Preprint
Oct 2026
DiffDreamer: Coupling World Models with Differentiable Simulation for Agile Quadrotor Control
Tasks such as quadrotor dynamic-gate racing require agents to anticipate external motion while maintaining precise high-frequency control. World-model-based reinforcement learning provides a natural solution by learning latent dynamics for future imagination, yet it often entangles environmental evolution and the robot...
Fan-Xing Li, Yu-Xiang Huang, Sheng-Yang Wang et al.
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