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Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
Our experiments in both simulated and real-world environments demonstrate that our approach achieves superior performance and robustness than IL or RL alone in navigating a quadrotor through a racing course using only visual information without explicit state estimation.
Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight
The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab environment.
See Yourself in Others: Attending Multiple Tasks for Own Failure Detection
The proposed framework infers task failures by evaluating the individual prediction, across multiple visual perception tasks for different regions in an image.
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