微分可能シミュレーションによるイベントカメラベースの障害物回避学習

原文アブストラクト

Reliable obstacle avoidance is essential for safe quadrotor flight in unknown environments, yet conventional frame-based cameras remain challenged by motion blur, limited dynamic range, and latency under fast motion. Event cameras, with sub-millisecond latency, high dynamic range, and negligible motion blur, offer a promising alternative, but leveraging them for closed-loop control remains difficult. Existing approaches either adopt cascaded architectures that first estimate depth and then map it to control commands, introducing error propagation, or achieve end-to-end control through costly offline pretraining before online fine-tuning can even begin. We address these challenges with a CUDA-based event simulator that exploits GPU parallelism to render events efficiently within the training loop, integrated into a differentiable simulation pipeline that enables direct gradient backpropagation through the differentiable physics model, improving sample efficiency. This allows us to train an end-to-end policy that maps event frames directly to control commands, without intermediate depth estimation. We validate our approach through zero-shot real-world deployment on a quadrotor, achieving robust obstacle avoidance in both odometry-assisted and odometry-free settings, including under low-light conditions where conventional cameras typically fail.