# Shanghai Jiao Tong University's Zou Danping team proposes DiffDreamer, combining world models and differentiable simulation for agile quadrotor control

- Source: 深蓝AI · 微信公众号
- Published: 2026-11-03T09:32:00.000Z
- RoboHot: https://robohot.news/en/items/oecrr78bxtyka7zn4unx4rrr4
- Original: https://mp.weixin.qq.com/s?__biz=MzY4NjA5NTgyMQ==&mid=2247606101&idx=1&sn=a2b81de20c5008ff58a0447f1a3e295d&chksm=f260ce1b45367addfd4c86db3880e9803c17102a7747f319aadb1a85118dac1adec490e928fb&scene=126&sessionid=1793715311#rd

## Summary

Zou Danping's team at Shanghai Jiao Tong University proposes DiffDreamer, which couples a learned world model with differentiable simulation for agile quadrotor control; the paper has been accepted to RAL 2026. The method uses the world model to predict external dynamics and differentiable simulation to propagate the robot's physical state. In aggressive tracking tasks, distance error drops to 0.381 m, versus 0.793 m for the strongest baseline; in dynamic gate crossing at gate speeds of 1.0/1.5/2.0 m/s, the number of gates passed is 16/12/8, versus 12/4/1 for MPC.