An end-to-end vision-based framework enables UAVs to traverse complex irregular gaps in unseen environments by mapping depth images to SE(3) control commands using differentiable simulation.
Aggressive quadrotor flight through narrow gaps with onboard sensing and com- puting using active vision
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Vision-Based End-to-End Learning for UAV Traversal of Irregular Gaps via Differentiable Simulation
An end-to-end vision-based framework enables UAVs to traverse complex irregular gaps in unseen environments by mapping depth images to SE(3) control commands using differentiable simulation.