Papers
Topics
Authors
Recent
Assistant
AI Research Assistant
Well-researched responses based on relevant abstracts and paper content.
Custom Instructions Pro
Preferences or requirements that you'd like Emergent Mind to consider when generating responses.
Gemini 2.5 Flash
Gemini 2.5 Flash 148 tok/s
Gemini 2.5 Pro 44 tok/s Pro
GPT-5 Medium 27 tok/s Pro
GPT-5 High 38 tok/s Pro
GPT-4o 85 tok/s Pro
Kimi K2 210 tok/s Pro
GPT OSS 120B 442 tok/s Pro
Claude Sonnet 4.5 36 tok/s Pro
2000 character limit reached

SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum (2412.16346v2)

Published 20 Dec 2024 in cs.RO, cs.CV, cs.LG, cs.SY, and eess.SY

Abstract: We propose a new simulator, training approach, and policy architecture, collectively called SOUS VIDE, for end-to-end visual drone navigation. Our trained policies exhibit zero-shot sim-to-real transfer with robust real-world performance using only onboard perception and computation. Our simulator, called FiGS, couples a computationally simple drone dynamics model with a high visual fidelity Gaussian Splatting scene reconstruction. FiGS can quickly simulate drone flights producing photorealistic images at up to 130 fps. We use FiGS to collect 100k-300k image/state-action pairs from an expert MPC with privileged state and dynamics information, randomized over dynamics parameters and spatial disturbances. We then distill this expert MPC into an end-to-end visuomotor policy with a lightweight neural architecture, called SV-Net. SV-Net processes color image, optical flow and IMU data streams into low-level thrust and body rate commands at 20 Hz onboard a drone. Crucially, SV-Net includes a learned module for low-level control that adapts at runtime to variations in drone dynamics. In a campaign of 105 hardware experiments, we show SOUS VIDE policies to be robust to 30% mass variations, 40 m/s wind gusts, 60% changes in ambient brightness, shifting or removing objects from the scene, and people moving aggressively through the drone's visual field. Code, data, and experiment videos can be found on our project page: https://stanfordmsl.github.io/SousVide/.

Summary

We haven't generated a summary for this paper yet.

Dice Question Streamline Icon: https://streamlinehq.com

Open Questions

We haven't generated a list of open questions mentioned in this paper yet.

Lightbulb Streamline Icon: https://streamlinehq.com

Continue Learning

We haven't generated follow-up questions for this paper yet.

List To Do Tasks Checklist Streamline Icon: https://streamlinehq.com

Collections

Sign up for free to add this paper to one or more collections.

Github Logo Streamline Icon: https://streamlinehq.com