ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics
Autonomous quadrotor flight in cluttered environment is an key capability for tasks like inspection and search. Navigation policies trained in simulation and transferred to hardware can fly at high speed in open space, but they can still collide as obstacle clearance shrinks. We attribute most of these collisions to a single mechanism, namely motion in directions the onboard camera does not observe. Heading that is not aligned with the direction of travel and lateral excursion during obstacle avoidance both carry the vehicle toward obstacles outside its field of view. We introduce ClearNav, a navigation policy trained with two reward terms that constrain motion to the observed direction, ...
| Authors | Aditya Azad, Arthur Huang, Guanrui Li |
|---|---|
| Primary category | cs.RO |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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