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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Crazyflow: An Accurate, GPU-Accelerated, Differentiable D...
Martin Schuck, Marcel P. Rath, Yufei Hua, Abhishek Goudar, SiQi · 2026-06-01 · via cs.RO updates on arXiv.org

High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing the capabilities of robot algorithms. While aerial robotics simulators have evolved to support specialized needs such as fidelity, differentiability, and swarms independently, a unified platform that can synthesize data across all these domains is missing. In this work, we propose Crazyflow, a simulator designed to push the limits of aerial-robotics algorithm development, from model-based to data-driven methods, gradient-based to sampling-based approaches, and single-agent to multi-agent systems. Compared to existing state-of-the-art drone simulators, it achieves speeds more than an order of magnitude faster for a single drone and can simulate thousands of swarms of 4000 drones each. Real-world experiments show Crazyflow supports both analytical-gradient-based policy learning, achieving sub-centimeter trajectory tracking accuracy without domain randomization, and sampling-based obstacle avoidance at speeds exceeding half a billion steps per second. Breaking the traditional train-then-deploy paradigm, we show that its unprecedented speed even enables in-flight reinforcement learning; we demonstrate this by throwing a physical drone into the air and training a recovery policy from scratch in 0.38 seconds, successfully stabilizing the drone. Crazyflow supports multiple levels of simulation abstraction, is directly compatible with all open-source Crazyflie models, and enables rapid reconfiguration across custom drone platforms and applications by providing a light-weight system identification pipeline. By pushing accuracy, speed, and differentiability simultaneously, Crazyflow serves as an open-source resource for synthetic data generation, with emerging capabilities for large-scale parallelization for online, in-execution learning and optimization, opening the door to novel algorithm development.