Preprint Open access
Learning Vision-Based Agile Gap Traversal: Differentiable Simulation with a Warm-Started Critic
Traversing narrow gaps is challenging for autonomous quadrotors, especially when control commands come directly from high-dimensional visual observations. Existing end-to-end methods often rely on behavior cloning or full-rollout backpropagation through time (BPTT) via differentiable simulation, which can limit policy …