Cheng-Hao Guo

Real-Time Visual Obstacle-Avoidance Trajectory Generation for UAVs Using Imitation Learning and Privileged Geometry-Guided Residual Reinforcement Learning

Real-time flight in unknown cluttered environments requires unmanned aerial vehicle (UAV) planners to generate local trajectories from limited onboard visual observations within short decision cycles, while balancing obstacle avoidance and progress toward a goal. Vision-based imitation-learning planners can acquire use...