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Robot."],"published-print":{"date-parts":[[2026,6,10]]},"abstract":"<jats:p>\n                    Precise aggressive maneuvers with lightweight onboard sensors remain a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems\u2019 accessible area by navigating through narrow openings in the environment. One of the most relevant problems is aggressive traversal through narrow gaps with quadrotors under constraints in the special Euclidean group of three dimensions [\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:mi mathvariant=\"italic\">SE<\/mml:mi>\n                          <mml:mrow>\n                            <mml:mo stretchy=\"true\">(<\/mml:mo>\n                            <mml:mn>3<\/mml:mn>\n                            <mml:mo stretchy=\"true\">)<\/mml:mo>\n                          <\/mml:mrow>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    ], which requires the quadrotors to leverage a momentary tilted attitude and the asymmetry of the airframes to navigate through gaps. Here, we achieved such maneuvers by developing sensorimotor policies directly mapping onboard vision and proprioception into low-level control commands. The policies were trained using reinforcement learning (RL) with end-to-end policy distillation in simulation. We mitigated the model-free RL\u2019s exploration challenge on the restricted solution space with an initialization strategy leveraging trajectories generated by a model-based planner. Careful sim-to-real design allowed the policy to control a quadrotor through narrow gaps with low clearances and high repeatability. For instance, the proposed method enabled a quadrotor to navigate a rectangular gap at a 5-centimeter clearance, tilted at an orientation up to 90\u00b0, without knowledge of the gap\u2019s position or orientation. Without training on dynamic gaps, the policy could reactively servo the quadrotor to traverse through a moving gap. The proposed method was validated on challenging tracks of narrow, closely placed gaps. The flexibility of the policy learning method was demonstrated by developing policies on geometrically diverse gaps without relying on manually defined traversal poses and visual features.\n                  <\/jats:p>","DOI":"10.1126\/scirobotics.aeb0180","type":"journal-article","created":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T17:58:08Z","timestamp":1781114288000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":2,"title":["Precise aggressive aerial maneuvers with sensorimotor policies"],"prefix":"10.1126","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-9683-7835","authenticated-orcid":true,"given":"Tianyue","family":"Wu","sequence":"first","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0683-5992","authenticated-orcid":true,"given":"Guangtong","family":"Xu","sequence":"additional","affiliation":[{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zihan","family":"Wang","sequence":"additional","affiliation":[{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3660-4706","authenticated-orcid":true,"given":"Junxiao","family":"Lin","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-3810-695X","authenticated-orcid":true,"given":"Tianyang","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8894-5118","authenticated-orcid":true,"given":"Yuze","family":"Wu","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7617-5964","authenticated-orcid":true,"given":"Zhichao","family":"Han","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiyang","family":"Liu","sequence":"additional","affiliation":[{"name":"Differential Robotics Technology Co., Ltd., Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6513-374X","authenticated-orcid":true,"given":"Fei","family":"Gao","sequence":"additional","affiliation":[{"name":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China."},{"name":"Huzhou Institute of Zhejiang University, Huzhou, China."},{"name":"Differential Robotics Technology Co., Ltd., Hangzhou, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434236"},{"key":"e_1_3_3_3_2","doi-asserted-by":"crossref","unstructured":"C. Richter A. Bry N. Roy \u201cPolynomial trajectory planning for aggressive quadrotor flight in dense indoor environments\u201d in Robotics Research: The 16th International Symposium ISRR (Springer 2013) pp. 649\u2013666.","DOI":"10.1007\/978-3-319-28872-7_37"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211033317"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abh1221"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-023-06419-4"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.ado6187"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12983-014-0064-y"},{"key":"e_1_3_3_9_2","first-page":"211072","article-title":"Flying through gaps: How does a bird deal with the problem and what costs are there?","volume":"9","author":"Henningsson P.","year":"2022","unstructured":"P. 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Madry Implementation matters in deep policy gradients: A case study on PPO and TRPO. arXiv:2005.12729 [cs.LG] (2020)."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.aeb0180","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T17:59:05Z","timestamp":1781719145000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.aeb0180"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,10]]},"references-count":70,"journal-issue":{"issue":"115","published-print":{"date-parts":[[2026,6,10]]}},"alternative-id":["10.1126\/scirobotics.aeb0180"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.aeb0180","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,6,10]]},"assertion":[{"value":"2025-07-29","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-25","order":1,"name":"revised","label":"Revised","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-05-12","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-06-10","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eaeb0180"}}