Whole-Body Aerial Grasping and Lifting via Partial Visual Observations
The research developed a recurrent teacher-student framework to enable aerial grasping and lifting under partial visual observations. A privileged teacher policy learns a joint command for flight, arm motion, and gripper closure using a critical-state curriculum. This behavior is distilled into a student policy that uses dual-view point clouds and proprioception for closed-loop control, achieving high success rates in complex simulation tasks.