{"id":"https://openalex.org/W4383066575","doi":"https://doi.org/10.1109/icra48891.2023.10160563","title":"Learning Perception-Aware Agile Flight in Cluttered Environments","display_name":"Learning Perception-Aware Agile Flight in Cluttered Environments","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066575","doi":"https://doi.org/10.1109/icra48891.2023.10160563"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085971429","display_name":"Yunlong Song","orcid":"https://orcid.org/0000-0002-6352-3744"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Yunlong Song","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Dep. of Informatics,Switzerland","Dep. of Informatics, Robotics and Perception Group, University of Zurich, Switzerland","Dep. of Neuroinformatics, University of Zurich and ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Dep. of Informatics,Switzerland","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dep. of Informatics, Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Dep. of Neuroinformatics, University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102002122","display_name":"Kexin Shi","orcid":"https://orcid.org/0009-0000-8494-003X"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Kexin Shi","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Dep. of Informatics,Switzerland","Dep. of Informatics, Robotics and Perception Group, University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Dep. of Informatics,Switzerland","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dep. of Informatics, Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045281591","display_name":"Robert P\u011bni\u010dka","orcid":"https://orcid.org/0000-0001-8549-4932"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Robert Penicka","raw_affiliation_strings":["Czech Technical University in Prague,Multi-robot Systems Group,Czech Republic","Multi-robot Systems Group, Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Multi-robot Systems Group,Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Multi-robot Systems Group, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Dep. of Informatics,Switzerland","Dep. of Informatics, Robotics and Perception Group, University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Dep. of Informatics,Switzerland","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dep. of Informatics, Robotics and Perception Group, University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085971429"],"corresponding_institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":6.7797,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.97553524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1989","last_page":"1995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7698674201965332},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7402559518814087},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6024513244628906},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5900900959968567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5535526275634766},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5474643111228943},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.48026299476623535},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4519089460372925},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4365924894809723},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3795178532600403},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3576183617115021}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7698674201965332},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7402559518814087},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6024513244628906},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5900900959968567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5535526275634766},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5474643111228943},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.48026299476623535},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4519089460372925},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4365924894809723},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3795178532600403},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3576183617115021},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1923344279","https://openalex.org/W1942294243","https://openalex.org/W1980969546","https://openalex.org/W2000146415","https://openalex.org/W2006501475","https://openalex.org/W2064675550","https://openalex.org/W2100495367","https://openalex.org/W2162991084","https://openalex.org/W2301363727","https://openalex.org/W2482392012","https://openalex.org/W2614122538","https://openalex.org/W2736601468","https://openalex.org/W2769498435","https://openalex.org/W2910687636","https://openalex.org/W2913365477","https://openalex.org/W2962787639","https://openalex.org/W2962957005","https://openalex.org/W2963249250","https://openalex.org/W2963689432","https://openalex.org/W2991625383","https://openalex.org/W3023767264","https://openalex.org/W3185165122","https://openalex.org/W3197225143","https://openalex.org/W3202883604","https://openalex.org/W4200150166","https://openalex.org/W4200630212","https://openalex.org/W4206742276","https://openalex.org/W4210985923","https://openalex.org/W4213433509","https://openalex.org/W4213454489","https://openalex.org/W4224914563","https://openalex.org/W4229007520","https://openalex.org/W4283262038","https://openalex.org/W4385245566","https://openalex.org/W6739901393","https://openalex.org/W6741002519","https://openalex.org/W6782364735","https://openalex.org/W6798895432","https://openalex.org/W6810148185"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W587013945"],"abstract_inverted_index":{"Recently,":[0],"neural":[1],"control":[2,139],"policies":[3],"have":[4],"outperformed":[5],"existing":[6],"model-based":[7],"planning-and-control":[8],"methods":[9],"for":[10],"autonomously":[11],"navigating":[12],"quadrotors":[13],"through":[14,92],"cluttered":[15,58,93],"environments":[16],"in":[17,29,57,89,128],"minimum":[18,90],"time.":[19],"However,":[20],"they":[21],"are":[22],"not":[23],"perception":[24,121],"aware,":[25],"a":[26,45,49,71,80,105,115,125],"crucial":[27],"requirement":[28],"vision-based":[30,106],"navigation":[31],"due":[32],"to":[33,87,100],"the":[34,41,112,137],"camera's":[35],"limited":[36],"field":[37],"of":[38,44],"view":[39],"and":[40,122,132],"underactuated":[42],"nature":[43],"quadrotor.":[46],"We":[47,135],"propose":[48],"learning-based":[50],"system":[51],"that":[52,109],"achieves":[53],"perception-aware,":[54],"agile":[55],"flight":[56],"environments.":[59,94],"Our":[60,117],"method":[61],"combines":[62],"imitation":[63,98],"learning":[64,67,99],"with":[65,84],"reinforcement":[66],"(RL)":[68],"by":[69],"leveraging":[70],"privileged":[72],"learning-by-cheating":[73],"framework.":[74],"Using":[75],"RL,":[76],"we":[77,96],"first":[78],"train":[79],"perception-aware":[81],"teacher":[82],"policy":[83,108],"full-state":[85],"information":[86],"fly":[88],"time":[91],"Then,":[95],"use":[97],"distill":[101],"its":[102],"knowledge":[103],"into":[104],"student":[107],"only":[110],"perceives":[111],"environment":[113],"via":[114],"camera.":[116],"approach":[118],"tightly":[119],"couples":[120],"control,":[123],"showing":[124],"significant":[126],"advantage":[127],"computation":[129],"speed":[130],"(10\u00d7faster)":[131],"success":[133],"rate.":[134],"demonstrate":[136],"closed-loop":[138],"performance":[140],"using":[141],"hardware-in-the-loop":[142],"simulation.":[143],"Video:":[144],"https://youtu.be/9q059CFGcVA":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}