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

arXiv:2609.30696 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-25

Updated: 2026-09-25

Comments: 8 pages, 9 figures

Code: https://github.com/ax-ml/jax

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

Terminology

• Actor — 22× in this paper · explained in 3 episodes
• Aperture — 7× in this paper · explained in 1 episode
• Ablation — 5× in this paper · explained in 1 episode
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Generalization — 3× in this paper · explained in 13 episodes
• Two-stage training — 3× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Distillation — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Optical Flow — 2× in this paper · explained in 2 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Sample Efficiency — 2× in this paper · explained in 4 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Active Vision — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Computational overhead — 1× in this paper · explained in 2 episodes
• Credit assignment — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• Learning Agile Gate Traversal via Analytical Optimal Policy Gradient
• Proximal Policy Optimization Algorithms

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