Learning Agile Gate Traversal via Analytical Optimal Policy Gradient

摘要

Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous flight stacks require extensive design and parameter tuning, while end-to-end reinforcement learning (RL) methods often suffer from low sample efficiency, limited interpretability, and degraded disturbance rejection under unseen perturbations. In this work, we present a novel hybrid framework that adaptively fine-tunes model predictive control (MPC) parameters online using outputs from a neural network (NN) trained offline. The NN jointly predicts a reference pose and cost function weights, conditioned on the coordinates of the gate corners and the current drone state. To achieve efficient training, we derive analytical policy gradients not only for the MPC module but also for an optimization-based gate traversal detection module. Hardware experiments demonstrate agile and accurate gate traversal with peak accelerations of $30\ \mathrm{m/s^2}$, as well as recovery within $0.85\ \mathrm{s}$ following body-rate disturbances exceeding $1146\ \mathrm{deg/s}$.