A sensorimotor policy with a pre-trained autoencoder perception head and LSTM controller, trained in two stages via privileged learning and curriculum reinforcement learning with domain randomization, achieves zero-shot transfer for outdoor obstacle evasion on unseen environments and platforms.
Reinforcement learning for collision-free flight exploiting deep collision encoding.arXiv preprint arXiv:2402.03947, 2024
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Vision-Guided Outdoor Flight and Obstacle Evasion via Reinforcement Learning
A sensorimotor policy with a pre-trained autoencoder perception head and LSTM controller, trained in two stages via privileged learning and curriculum reinforcement learning with domain randomization, achieves zero-shot transfer for outdoor obstacle evasion on unseen environments and platforms.