OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance

arXiv:2609.18191 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-20

Comments: 8 pages, 5 figures, 6 tables

Code: https://github.com/VANdexj/OmniRisk

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

Terminology

Ablation — 5× in this paper · explained in 1 episode
Benchmark — 5× in this paper · explained in 2 episodes
Accuracy — 3× in this paper · explained in 1 episode
Alignment — 3× in this paper · explained in 1 episode
Consistency — 3× in this paper · explained in 3 episodes
Distillation — 3× in this paper · explained in 2 episodes
AUC — 2× in this paper · explained in 2 episodes
Action Space — 2× in this paper · explained in 1 episode
Computational overhead — 2× in this paper · explained in 2 episodes
Decoupling — 2× in this paper · explained in 2 episodes
Point Clouds — 2× in this paper · explained in 2 episodes
Fine-Tuning — 1× in this paper · explained in 5 episodes
Hysteresis — 1× in this paper · explained in 3 episodes
Reinforcement Learning — 1× in this paper · explained in 4 episodes
Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
Sparsity — 1× in this paper · explained in 4 episodes
Temporal consistency — 1× in this paper · explained in 2 episodes
Zero-Shot Transfer — 1× in this paper · explained in 3 episodes

Sources

Flying through cluttered and dynamic environments with LiDAR

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