Publications

Agile Autonomy: Learning High-Speed Vision-Based Flight

A. Loquercio

Springer Tracts in Advanced Robotics, 2022

Book

End-to-End Navigation with Vision Language Models: Transforming Spatial Reasoning into Question-Answering

D. Goetting, H. G. Singh, A. Loquercio

Paper Website Code

A Learning-based Quadcopter Controller with Extreme Adaptation

D. Zhang, A. Loquercio, J. Tang, T. Wang, J. Malik, M. W. Mueller

Paper Code

Hand-Object Interaction Pretraining from Videos

H.G. Singh, A. Loquercio, C. Sferrazza, J. Wu, H. Qi, P. Abbeel, J. Malik

Paper Website Code

EgoPet: Egomotion and Interaction Data from an Animal's Perspective

A. Bar, A. Bakhtiar, D. Tran, A. Loquercio, J. Rajasegaran, Y. LeCun, A. Globerson, T. Darrell

European Conference on Computer Vision (ECCV), 2024

Paper Website Code

Autonomous Drone Racing: A Survey

D. Hanover, A. Loquercio, L. Bauersfeld, A. Romero, R. Penicka, Y. Song, G. Cioffi, E. Kaufmann, D. Scaramuzza

IEEE Transactions of Robotics (T-RO), 2024

Paper

Tactile-Augmented Radiance Fields

Y. Dou, F. Yang, Y. Liu, A. Loquercio, A. Owens

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2024

Paper Website Code

Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion

H. Huang, A. Loquercio, A. Kumar, N. Thakkar, K. Goldberg, J. Malik

International Conference on Robotics and Automation (ICRA), 2024

Paper Website

Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts

H. Huang, S. Sharma, A. Loquercio, A. Angelopoulos, K. Goldberg, J. Malik

International Conference on Robotics and Automation (ICRA), 2024

Paper

Learning Vision-Based Pursuit-Evasion Robot Policies

A. Bajcsy*, A. Loquercio*, A. Kumar, J. Malik

International Conference on Robotics and Automation (ICRA), 2024

Paper Website

Champion-Level Drone Racing Using Deep Reinforcement Learning

E. Kaufmann, L. Bauersfeld, A. Loquercio, M. Mueller, V. Koltun, D. Scaramuzza

Nature, 2023

Featured on the cover of Nature!

Paper Video

Learning Visual Locomotion with Cross-Modal Supervision

A. Loquercio, A. Kumar, J. Malik

International Conference on Robotics and Automation (ICRA), 2023

Paper Code Video Pitch

Training Efficient Controllers via Analytic Policy Gradient

N. Wiedemann, V. Wüest, A. Loquercio, M. Müller, D. Floreano, D. Scaramuzza

International Conference on Robotics and Automation (ICRA), 2023

Paper Code

A Zero-Shot Adaptive Quadcopter Controller

D. Zhang, A. Loquercio, X. Wu, A. Kumar, J. Malik, M. W. Mueller

International Conference on Robotics and Automation (ICRA), 2023

Paper Website YouTube

Agilicious: Open-source and Open-hardware Agile Quadrotor for Vision-Based Flight

P. Foehn, E. Kaufmann, A. Romero, R. Penicka, S. Sun, L. Bauersfeld, T. Laengle, G. Cioffi, Y. Song, A. Loquercio, D. Scaramuzza

Science Robotics, 2022

Paper Code

Visual Attention Prediction Improves Performance of Autonomous Drone Racing Agents

C. Pfeiffer, S. Wengler, A. Loquercio, D. Scaramuzza

PLOS ONE Vol. 17, Issue 3, 2022

Paper Dataset

AutoTune: Controller Tuning for High-Speed Flight

A. Loquercio*, A. Saviolo*, D. Scaramuzza

IEEE Robotics and Automation Letters (RA-L) and ICRA, 2022

Paper

Learning High-Speed Flight in the Wild

A. Loquercio, E. Kaufmann, R. Ranftl, M. Mueller, V. Koltun, D. Scaramuzza

Science Robotics, 2021

Fontier of Science Award, 2023

Paper Code and Datasets Video

Agile Autonomy: High-Speed Flight with On-Board Sensing and Computing

A. Loquercio, D. Scaramuzza

Conference on Robotics and Intelligent Machines (I-RIM3D), 2020

Best Paper Award Finalist!

Paper Video Pitch

Primal-Dual Mesh Convolutional Neural Networks

F. Milano, A. Loquercio, A. Rosinol, D. Scaramuzza, L. Carlone

Conference on Neural Information Processing Systems (NeurIPS), 2020

Paper Code

Flightmare: A Flexible Quadrotor Simulator

Y. Song, S. Naji, E. Kaufmann, A. Loquercio, D. Scaramuzza

Conference on Robotic Learning (CoRL), 2020

Paper Video Website

Event-based Asynchronous Sparse Convolutional Networks

N. Messikommer, D. Gehrig, A. Loquercio, D. Scaramuzza

European Conference on Computer Vision (ECCV), 2020

Paper Video Code

Deep Drone Acrobatics

E. Kaufmann*, A. Loquercio*, R. Ranftl, M. Mueller, V. Koltun, D. Scaramuzza

Robotics, Science, and Systems (RSS), 2020

Best Paper Award Finalist!

Paper Code Video Blog Post

End-to-End Learning of Representations for Asynchronous Event-Based Data

D. Gehrig, A. Loquercio, K.G. Derpanis, D. Scaramuzza

IEEE International Conference on Computer Vision (ICCV), 2019

Paper Code Video

Learning Depth with Very Sparse Supervision

A. Loquercio, A. Dosovitskiy, D. Scaramuzza

IEEE Robotics and Automation Letters (RA-L) and IROS, 2020

Paper

Deep Drone Racing: From Simulation to Reality with Domain Randomization

A. Loquercio*, E. Kaufmann*, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

IEEE Transactions on Robotics (T-RO), 2020

T-RO Best Paper Award Honorable Mention!

Paper Code Video

A General Framework for Uncertainty Estimation in Deep Learning

A. Loquercio*, M. Segu*, D. Scaramuzza

IEEE Robotics and Automation Letters (RA-L) and ICRA, 2020

Paper Video ICRA2020 Pitch Video Code

Unsupervised Moving Object Detection via Contextual Information Separation

Y. Yang*, A. Loquercio*, D. Scaramuzza, S. Soatto

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019

Paper Code Video

Deep Drone Racing: Learning Agile Flight in Dynamic Environments

E. Kaufmann*, A. Loquercio*, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

Conference on Robotic Learning (CoRL), 2018

Best Systems Paper Award!

Paper Code Video

A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

D. Palossi, A. Loquercio, F. Conti, E. Flamand, D. Scaramuzza, L. Benini

IEEE Internet of Things (IoT), 2019

Paper Code Video

Event-based Vision Meets Deep Learning on Steering Prediction for Self-driving Cars

A. Maqueda, A. Loquercio, G. Gallego, N. Garcia, D. Scaramuzza

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018

Paper Video Code and Datasets

DroNet: Learning to Fly by Driving

A. Loquercio, A. Maqueda, C. del-Blanco, D. Scaramuzza

IEEE Robotics and Automation Letters (RA-L) and ICRA, 2018

Paper Code Video

Place Recognition in Semi-Dense Maps: Geometric and Learning-Based Approaches

Y. Ye, T. Cieslewski, A. Loquercio, D. Scaramuzza

British Machine Vision Conference (BMVC), 2017

Paper Poster

Efficient Descriptor Learning for Large Scale Localization

A. Loquercio, M. Dymczyk, B. Zeisl, S. Lynen, I. Gilitschenski, R. Siegwart

IEEE International Conference on Robotics and Automation (ICRA), 2017

Paper

Agile Autonomy: Learning High-Speed Vision-Based Flight

A. Loquercio

PhD Thesis, University of Zurich, 2021

Georges Giralt PhD Award, 2022

Thesis Video of Defense

Publications

Books

Agile Autonomy: Learning High-Speed Vision-Based Flight

Preprints

End-to-End Navigation with Vision Language Models: Transforming Spatial Reasoning into Question-Answering

A Learning-based Quadcopter Controller with Extreme Adaptation

Hand-Object Interaction Pretraining from Videos

Publications

EgoPet: Egomotion and Interaction Data from an Animal's Perspective

Autonomous Drone Racing: A Survey

Tactile-Augmented Radiance Fields

Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion

Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts

Learning Vision-Based Pursuit-Evasion Robot Policies

Champion-Level Drone Racing Using Deep Reinforcement Learning

Learning Visual Locomotion with Cross-Modal Supervision

Training Efficient Controllers via Analytic Policy Gradient

A Zero-Shot Adaptive Quadcopter Controller

Agilicious: Open-source and Open-hardware Agile Quadrotor for Vision-Based Flight

Visual Attention Prediction Improves Performance of Autonomous Drone Racing Agents

AutoTune: Controller Tuning for High-Speed Flight

Learning High-Speed Flight in the Wild

Agile Autonomy: High-Speed Flight with On-Board Sensing and Computing

Primal-Dual Mesh Convolutional Neural Networks

Flightmare: A Flexible Quadrotor Simulator

Event-based Asynchronous Sparse Convolutional Networks

Deep Drone Acrobatics

End-to-End Learning of Representations for Asynchronous Event-Based Data

Learning Depth with Very Sparse Supervision

Deep Drone Racing: From Simulation to Reality with Domain Randomization

A General Framework for Uncertainty Estimation in Deep Learning

Unsupervised Moving Object Detection via Contextual Information Separation

Deep Drone Racing: Learning Agile Flight in Dynamic Environments

A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Event-based Vision Meets Deep Learning on Steering Prediction for Self-driving Cars

DroNet: Learning to Fly by Driving

Place Recognition in Semi-Dense Maps: Geometric and Learning-Based Approaches

Efficient Descriptor Learning for Large Scale Localization

PhD Thesis

Agile Autonomy: Learning High-Speed Vision-Based Flight