Author

Lin Zhao

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Preprint Sep 2026

Learning Vision-Based Agile Gap Traversal: Differentiable Simulation with a Warm-Started Critic

Traversing narrow gaps is challenging for autonomous quadrotors, especially when control commands come directly from high-dimensional visual observations. Existing end-to-end methods often rely on behavior cloning or full-rollout backpropagation through time (BPTT) via differentiable simulation, which can limit policy...

Nuthasith Gerdpratoom, Tian-Chen Sun, Yi-Chao Gao et al. · 0 citations

Preprint Oct 2026

ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation

Continuous legged manipulation requires accurate end-effector tracking while the base keeps walking. Combining reinforcement learning (RL) with model predictive control (MPC) suits this task: the learned policy provides robust locomotion, while MPC coordinates the base and arm to compensate for tracking errors. However...

Kuan-Kuan Sima, Yi-Chao Gao, Chen-Xi Gu et al. · 0 citations