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TransNav: Transformer-Based End-to-End Static and Dynamic Obstacle Avoidance for Quadrotors

TransNav proposes a Transformer-based end-to-end navigation method for quadrotors that achieves obstacle avoidance in environments with mixed static and dynamic obstacles. The method uses a patch-based point-cloud encoding scheme, integrates perception and navigation into a single architecture, and directly predicts a finite-horizon action sequence and executes the first action. It also introduces a lightweight point-mass dynamics model that optimizes trajectory-level costs through numerical gradient propagation, enabling unsupervised training without expert demonstrations.

Part of the event: TransNav: A Transformer-Based End-to-End Obstacle Avoidance Navigation Method for Quadrotors

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