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Happy to share our new work, MVInverse, a feedforward framework for multiview PBR material estimation at ~10 fps. Multiview ViT (like VGGT, Pi3) can also do material estimation! Paper: Homepage: Code:

11,933 次观看 • 6 个月前 •via X (Twitter)

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We are thrilled to share our breakthrough research on "Agile Flight from Pixels without State Estimation," to be presented and live-demonstrated at #RSS2024 next week! You heard well: no state estimation means no explicit visual localization, no SLAM, no VIO, and no IMU! Paper: Video (Narrated): Last year, we demonstrated that #ReinforcementLearning (RL) policies could outperform world-champion drone-racing pilots using the same quadrotor hardware; however, unlike human pilots, these policies continuously estimated an explicit state from known gate positions, the camera feed, and inertial measurements (IMU). In this new work, we tackle the challenge of learning vision-based drone racing using an end-to-end reinforcement learning approach that eliminates the need for IMU data or explicit state estimation. Like professional pilots, we go directly from images to control commands. The training is facilitated by an asymmetric actor-critic with access to privileged information. To overcome the computational complexity during image-based RL training, we use an appropriate sensor representation, which can be efficiently simulated during training without rendering images. We achieve agile flight at speeds up to 40 km/h with accelerations up to 2 g's. Although our demonstration focuses on drone racing, we believe that our method has an impact beyond drone racing and can serve as a foundation for future research into real-world applications in structured environments. Besides the paper presentation, we will also give a live demo next Tuesday and Wednesday between and hrs at TU Delft: Reference: Ismail Geles*, Leonard Bauersfeld*, Angel Romero, Jiaxu Xing, Davide Scaramuzza "Demonstrating Agile Flight from Pixels without State Estimation" Robotics: Science and Systems (RSS), 2024. Kudos to Ismail Geles Leonard Bauersfeld Ángel Romero Jiaxu Xing! University of Zurich UZH Science UZH Space Hub Aerial Core AUTOASSESS European Research Council (ERC)

Davide Scaramuzza

27,917 次观看 • 2 年前

The Office of the eSafety Commissioner does commendable work in protecting children and adults from bullying and, most importantly, removing child abuse material. I praised the Office for this work. However, in my opinion, the eSafety Commissioner has brought the office into disrepute with her personal vendetta against Twitter/X and her attempt to become the world internet police. Last year, the Commissioner finalised investigations into 9,500 pieces of violent and extremist content. I asked what these were. The answer provided was that the Commissioner was taking down material from anywhere in the world, detecting it in part because they actively searched for it, even without a complaint. Given that the Commissioner is positioning herself as the world internet police at our expense, I asked what benefit removing the 9,500 pieces of material had for Australians. The answer relied on one incident, and there was no proof it actually caused a terrorist incident. I asked why there was no explanation of what the other material was, such as a transparency register so we can see what material they are requiring to be taken down to check for political bias. The question was ignored. I also asked what direct benefit her actions had in addressing terrorism and violent material. The Commissioner answered regarding child material, which I had already praised. The Commissioner is avoiding scrutiny of her takedown notices for violent and extremist material, and I believe it is because they follow a political bias. One Nation calls for the eSafety Commissioner to stand down.

Malcolm Roberts 🇦🇺

17,892 次观看 • 1 年前