{"id":"https://openalex.org/W4417064295","doi":"https://doi.org/10.48550/arxiv.2509.08177","title":"Quadrotor Navigation using Reinforcement Learning with Privileged Information","display_name":"Quadrotor Navigation using Reinforcement Learning with Privileged Information","publication_year":2025,"publication_date":"2025-09-09","ids":{"openalex":"https://openalex.org/W4417064295","doi":"https://doi.org/10.48550/arxiv.2509.08177"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2509.08177","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.08177","pdf_url":"https://arxiv.org/pdf/2509.08177","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.08177","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047048285","display_name":"Jonathan Lee","orcid":"https://orcid.org/0000-0003-3932-761X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lee, Jonathan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115069351","display_name":"Abhishek Rathod","orcid":"https://orcid.org/0009-0007-2597-7079"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rathod, Abhishek","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076251526","display_name":"Kshitij Goel","orcid":"https://orcid.org/0000-0002-7419-0092"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Goel, Kshitij","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114285409","display_name":"John Stecklein","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stecklein, John","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5043462007","display_name":"Wennie Tabib","orcid":"https://orcid.org/0000-0002-4675-2924"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tabib, Wennie","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047048285"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5174000263214111,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5174000263214111,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.14640000462532043,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.09300000220537186,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7023000121116638},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5699999928474426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5322999954223633},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4408000111579895},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.3684000074863434},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.311599999666214}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7023000121116638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6524999737739563},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5699999928474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5633999705314636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5322999954223633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4846000075340271},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4408000111579895},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4047999978065491},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3684000074863434},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31769999861717224},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.311599999666214},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.304500013589859},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.29510000348091125},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26669999957084656},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.265500009059906}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2509.08177","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.08177","pdf_url":"https://arxiv.org/pdf/2509.08177","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},{"id":"pmh:doi:10.48550/arxiv.2509.08177","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2509.08177","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.08177","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.08177","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.08177","pdf_url":"https://arxiv.org/pdf/2509.08177","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":[{"id":"https://openalex.org/G5259331294","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417064295.pdf","grobid_xml":"https://content.openalex.org/works/W4417064295.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,62,106],"reinforcement":[4],"learning-based":[5,26],"quadrotor":[6,108],"navigation":[7],"method":[8,53],"that":[9,32],"leverages":[10],"efficient":[11],"differentiable":[12],"simulation,":[13],"novel":[14],"loss":[15,65],"functions,":[16],"and":[17,61,86,95,117],"privileged":[18,59],"information":[19,60],"to":[20,66,134],"navigate":[21],"around":[22,70],"large":[23,45,71,82],"obstacles.":[24,72],"Prior":[25],"methods":[27],"perform":[28],"well":[29],"in":[30,77,109],"scenes":[31],"exhibit":[33],"narrow":[34],"obstacles,":[35,83],"but":[36],"struggle":[37],"when":[38],"the":[39,51,68,103,115],"goal":[40],"location":[41],"is":[42,75,121],"blocked":[43],"by":[44,99],"walls":[46],"or":[47],"terrain.":[48],"In":[49],"contrast,":[50],"proposed":[52],"utilizes":[54],"time-of-arrival":[55],"(ToA)":[56],"maps":[57],"as":[58],"yaw":[63],"alignment":[64],"guide":[67],"robot":[69],"The":[73,119],"policy":[74,104,120],"evaluated":[76],"photo-realistic":[78],"simulation":[79],"environments":[80,112],"containing":[81],"sharp":[84],"corners,":[85],"dead-ends.":[87],"Our":[88],"approach":[89],"achieves":[90],"an":[91],"86%":[92],"success":[93],"rate":[94],"outperforms":[96],"baseline":[97],"strategies":[98],"34%.":[100],"We":[101],"deploy":[102],"onboard":[105],"custom":[107],"outdoor":[110],"cluttered":[111],"both":[113],"during":[114],"day":[116],"night.":[118],"validated":[122],"across":[123],"20":[124],"flights,":[125],"covering":[126],"589":[127],"meters":[128],"without":[129],"collisions":[130],"at":[131],"speeds":[132],"up":[133],"4":[135],"m/s.":[136]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
