{"id":"https://openalex.org/W3202883604","doi":"https://doi.org/10.1126/scirobotics.abg5810","title":"Learning high-speed flight in the wild","display_name":"Learning high-speed flight in the wild","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3202883604","doi":"https://doi.org/10.1126/scirobotics.abg5810","mag":"3202883604","pmid":"https://pubmed.ncbi.nlm.nih.gov/34613820"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abg5810","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abg5810","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2110.05113","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Antonio Loquercio","orcid":"https://orcid.org/0000-0002-8410-3933"},"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"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Antonio Loquercio","raw_affiliation_strings":["University of Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-8410-3933","affiliations":[{"raw_affiliation_string":"University of Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Elia Kaufmann","orcid":"https://orcid.org/0000-0001-6094-5901"},"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"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Elia Kaufmann","raw_affiliation_strings":["University of Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6094-5901","affiliations":[{"raw_affiliation_string":"University of Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ren\u00e9 Ranftl","orcid":"https://orcid.org/0000-0003-4158-2759"},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ren\u00e9 Ranftl","raw_affiliation_strings":["Intel, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4158-2759","affiliations":[{"raw_affiliation_string":"Intel, Munich, Germany","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Matthias M\u00fcller","orcid":"https://orcid.org/0000-0001-5249-8734"},"institutions":[{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias M\u00fcller","raw_affiliation_strings":["Intel, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5249-8734","affiliations":[{"raw_affiliation_string":"Intel, Munich, Germany","institution_ids":["https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vladlen Koltun","orcid":"https://orcid.org/0000-0003-0858-0970"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vladlen Koltun","raw_affiliation_strings":["Intel, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0858-0970","affiliations":[{"raw_affiliation_string":"Intel, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":null,"display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["University of Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3831-6778","affiliations":[{"raw_affiliation_string":"University of Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":17.9741,"has_fulltext":false,"cited_by_count":346,"citation_normalized_percentile":{"value":0.99648925,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"6","issue":"59","first_page":"eabg5810","last_page":"eabg5810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.18870000541210175,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.18870000541210175,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.06859999895095825,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.061900001019239426,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6912999749183655},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6559000015258789},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.620199978351593},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5095000267028809},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.47350001335144043},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4717999994754791}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6983000040054321},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6912999749183655},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6559000015258789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6276999711990356},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.620199978351593},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5095000267028809},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5060999989509583},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.47350001335144043},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4717999994754791},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4652999937534332},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40540000796318054},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.40290001034736633},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25029999017715454}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.abg5810","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abg5810","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:34613820","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34613820","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":"Journal Article"},{"id":"pmh:oai:arXiv.org:2110.05113","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.05113","pdf_url":"https://arxiv.org/pdf/2110.05113","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2110.05113","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.05113","pdf_url":"https://arxiv.org/pdf/2110.05113","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1530919911","https://openalex.org/W1942294243","https://openalex.org/W1980969546","https://openalex.org/W2000146415","https://openalex.org/W2006501475","https://openalex.org/W2043641592","https://openalex.org/W2071668645","https://openalex.org/W2103052138","https://openalex.org/W2117248802","https://openalex.org/W2135194391","https://openalex.org/W2138309709","https://openalex.org/W2162991084","https://openalex.org/W2317831939","https://openalex.org/W2465948386","https://openalex.org/W2482392012","https://openalex.org/W2501620068","https://openalex.org/W2557519264","https://openalex.org/W2607968634","https://openalex.org/W2608018532","https://openalex.org/W2609009256","https://openalex.org/W2745471877","https://openalex.org/W2762248659","https://openalex.org/W2764077361","https://openalex.org/W2769990600","https://openalex.org/W2771926486","https://openalex.org/W2788239209","https://openalex.org/W2892378191","https://openalex.org/W2913365477","https://openalex.org/W2945577597","https://openalex.org/W2962787639","https://openalex.org/W2962957005","https://openalex.org/W2963249250","https://openalex.org/W2963689432","https://openalex.org/W2967828032","https://openalex.org/W2982083293","https://openalex.org/W2982095652","https://openalex.org/W3003747652","https://openalex.org/W3011524659","https://openalex.org/W3023767264","https://openalex.org/W3026142217","https://openalex.org/W3038825904","https://openalex.org/W3159537771"],"related_works":[],"abstract_inverted_index":{"Quadrotors":[0],"are":[1,81],"agile.":[2],"Unlike":[3],"most":[4],"other":[5],"machines,":[6],"they":[7],"can":[8,70,104],"traverse":[9],"extremely":[10],"complex":[11,109],"environments":[12,113,196],"at":[13,62,114],"high":[14,115],"speeds.":[15,42],"To":[16],"date,":[17],"only":[18],"expert":[19,175],"human":[20],"pilots":[21],"have":[22],"been":[23,38],"able":[24],"to":[25,40,85,127,133,150,178,193],"fully":[26],"exploit":[27],"their":[28],"capabilities.":[29],"Autonomous":[30],"operation":[31],"with":[32,117,176],"onboard":[33,119],"sensing":[34,120],"and":[35,54,89,111,121,147,152,209],"computation":[36],"has":[37,59],"limited":[39],"low":[41,63],"State-of-the-art":[43],"methods":[44],"generally":[45],"separate":[46],"the":[47,65,95],"navigation":[48,75],"problem":[49],"into":[50],"subtasks:":[51],"sensing,":[52],"mapping,":[53],"planning.":[55],"Although":[56],"this":[57],"approach":[58,102,187],"proven":[60],"successful":[61],"speeds,":[64],"separation":[66],"it":[67],"builds":[68],"upon":[69],"be":[71],"problematic":[72],"for":[73],"high-speed":[74,222],"in":[76,136,168,219],"cluttered":[77],"environments.":[78],"The":[79,123,155],"subtasks":[80],"executed":[82],"sequentially,":[83],"leading":[84],"increased":[86],"processing":[87,145],"latency":[88,146],"a":[90,137,161],"compounding":[91],"of":[92],"errors":[93],"through":[94,108,225],"pipeline.":[96],"Here,":[97],"we":[98],"propose":[99],"an":[100,174],"end-to-end":[101,216],"that":[103,164,197,215],"autonomously":[105],"fly":[106],"quadrotors":[107],"natural":[110],"human-made":[112],"speeds":[116],"purely":[118],"computation.":[122],"key":[124],"principle":[125],"is":[126,158,165],"directly":[128],"map":[129],"noisy":[130,151],"sensory":[131],"observations":[132],"collision-free":[134],"trajectories":[135],"receding-horizon":[138],"fashion.":[139],"This":[140],"direct":[141],"mapping":[142,157],"drastically":[143],"reduces":[144],"increases":[148],"robustness":[149],"incomplete":[153],"perception.":[154],"sensorimotor":[156],"performed":[159],"by":[160],"convolutional":[162],"network":[163],"trained":[166,218],"exclusively":[167],"simulation":[169,192,220],"via":[170],"privileged":[171,179],"learning:":[172],"imitating":[173],"access":[177],"information.":[180],"By":[181],"simulating":[182],"realistic":[183],"sensor":[184],"noise,":[185],"our":[186],"achieves":[188],"zero-shot":[189],"transfer":[190],"from":[191],"challenging":[194,226],"real-world":[195],"were":[198],"never":[199],"experienced":[200],"during":[201],"training:":[202],"dense":[203],"forests,":[204],"snow-covered":[205],"terrain,":[206],"derailed":[207],"trains,":[208],"collapsed":[210],"buildings.":[211],"Our":[212],"work":[213],"demonstrates":[214],"policies":[217],"enable":[221],"autonomous":[223],"flight":[224],"environments,":[227],"outperforming":[228],"traditional":[229],"obstacle":[230],"avoidance":[231],"pipelines.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":60},{"year":2025,"cited_by_count":96},{"year":2024,"cited_by_count":85},{"year":2023,"cited_by_count":65},{"year":2022,"cited_by_count":38},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2021-10-11T00:00:00"}