Oren Gal

Calibrate Once, Fly Any Team: Residual-Grounded Low-Fidelity Training for Cooperative Drone Swarms

Training multi-agent drone-swarm policies directly in high-fidelity (HF) rigid-body physics is accurate but computationally expensive. This cost scales poorly with team size, as each additional agent multiplies contact-resolution complexity and sharply raises the in-simulation crash rate. To address this, we propose a...