A policy gradient method with differentiable quadrotor dynamics learns agile interception from direction vectors alone, outperforming point-mass baselines by 30% at speeds up to 10 m/s.
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A hybrid neural-geometric approach processes tilted LiDAR data to estimate yaw and compute safe position, enabling localization-free navigation in straight and curved tunnels.
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Learning Agile Intruder Interception using Differentiable Quadrotor Dynamics
A policy gradient method with differentiable quadrotor dynamics learns agile interception from direction vectors alone, outperforming point-mass baselines by 30% at speeds up to 10 m/s.