Learning End-to-End Control for Omnidirectional Aerial Motion on Overactuated Tilt-rotor Quadrotors

arXiv:2602.21583 · cs.RO · Submitted 2026-02-25 · Read on arXiv

cs.RO

Submitted: 2026-02-25

Updated: 2026-09-18

Comments: accepted to IEEE Robotics and Automation Letters

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Robustness — 17× in this paper · explained in 5 episodes
• Accuracy — 15× in this paper · explained in 1 episode
• Reinforcement Learning — 15× in this paper · explained in 4 episodes
• System Identification — 9× in this paper · explained in 3 episodes
• Generalization — 7× in this paper · explained in 13 episodes
• Actor — 6× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 5× in this paper · explained in 2 episodes
• Regularization — 4× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Reward Function — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Actor-Critic Framework — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Nonlinear Model Predictive Control — 2× in this paper
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Energy Efficiency — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Sources

• Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
• MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs
• UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
• Proximal Policy Optimization Algorithms
• RSL-RL: A Learning Library for Robotics Research
• Sim-to-Real: Learning Agile Locomotion For Quadruped Robots

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