What should a world model for agile quadrotor control actually provide?
📄 Arxiv: https://t.co/nOZaNJjBSv
🌐 Project: https://t.co/cCgVN04gUC
💻 Code: https://t.co/bMLnUSM1Cx
Excited to share SkyJEPA:
Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors
A useful quadrotor world model should provide:
✅ Accurate long-horizon prediction
✅ Interpretability
✅ Real-time inference for closed-loop control
✅ Zero-shot task generalization
SkyJEPA learns dynamics in latent space, uses a physics-inspired prober to recover meaningful states, and enables real-time control in outdoor flights.
🔑 Takeaways:
• Less compounding error
• Smoother latent trajectories
• Robustness to corrupted/noisy inputs
• Generalization to unseen settings like propeller switching and payload changes
• Zero-shot sim-to-real transfer without real-world fine-tuning to scenarios not seen during training such as propeller switching and payload changes.
Huge thanks to my collaborators: @kevinghstz, @randall_balestr, @ylecun, and @loiannog
#Robotics #Quadrotors #WorldModels #Sim2Real #JEPA #RepresentationLearning #Drones
