GaussFly decouples representation learning from policy optimization via 3D Gaussian Splatting reconstruction and contrastive features to achieve superior sample efficiency and zero-shot sim-to-real transfer for AAV visuomotor policies.
Learning deep sensorimotor policies for vision-based autonomous drone racing,
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GaussFly: Contrastive Reinforcement Learning for Visuomotor Policies in 3D Gaussian Fields
GaussFly decouples representation learning from policy optimization via 3D Gaussian Splatting reconstruction and contrastive features to achieve superior sample efficiency and zero-shot sim-to-real transfer for AAV visuomotor policies.