Differentiable learning typically assumes that the scalar objective evaluated in the forward pass and the gradient supplied to the optimizer in the backward pass describe the same mathematical object. We show that this correspondence can fail when probabilistic objectives rely on finite special-function recurrences, cu …
Agile quadrotor avoidance of fast-moving obstacles requires anticipating collisions and selecting feasible maneuvers within short reaction windows. Reliable predictive avoidance remains challenging because sparse range observations do not directly reveal obstacle motion, while online trajectory optimizers either scale …
Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exceed payload limits, optical flow degrades in low-texture scenes, and inertial-only state estimation is susceptible to accumulated drift. Whil …