PILOT: Privileged Imitation Learning for End-to-End Motion Planning of Autonomous UAVs under Partial Observability

arXiv:2608.14082v1 Announce Type: new Abstract: Autonomous navigation in cluttered environments is hampered by partial observability and dynamic constraints. This paper presents PILOT, a constraint-aware privileged imitation learning framework for vision-based end-to-end UAV motion planning under partial observability. The framework distills planning strategies from a computationally intensive optimal control expert into a student policy regularized toward safety and dynamic requirements via a dual-objective loss function. To mitigate partial observability, a spatiotemporal perception fusion module using a Temporal Convolutional Network (TCN) is developed to integrate historical depth images and odometry. This module infers task-relevant latent context from historical observations, enhancing spatial awareness beyond the instantaneous FOV without maintaining persistent map memory. A trajectory parameterization layer mapping network outputs to a structured trajectory, while enabling explicit continuity, dynamic-consistency, and obstacle soft penalties during training, encouraging constraint satisfaction for unseen observations without formal guarantees. Simulations on quadrotor and fixed-wing aircraft demonstrate that PILOT achieves performance comparable to the privileged expert while reducing computational overhead by over 80\%. Successful indoor and outdoor zero-shot deployment confirms the practical feasibility and cross-domain generalization of the planner.

Abstract:Autonomous navigation in cluttered environments is hampered by partial observability and dynamic constraints. This paper presents PILOT, a constraint-aware privileged imitation learning framework for vision-based end-to-end UAV motion planning under partial observability. The framework distills planning strategies from a computationally intensive optimal control expert into a student policy regularized toward safety and dynamic requirements via a dual-objective loss function. To mitigate partial observability, a spatiotemporal perception fusion module using a Temporal Convolutional Network (TCN) is developed to integrate historical depth images and odometry. This module infers task-relevant latent context from historical observations, enhancing spatial awareness beyond the instantaneous FOV without maintaining persistent map memory. A trajectory parameterization layer mapping network outputs to a structured trajectory, while enabling explicit continuity, dynamic-consistency, and obstacle soft penalties during training, encouraging constraint satisfaction for unseen observations without formal guarantees. Simulations on quadrotor and fixed-wing aircraft demonstrate that PILOT achieves performance comparable to the privileged expert while reducing computational overhead by over 80\%. Successful indoor and outdoor zero-shot deployment confirms the practical feasibility and cross-domain generalization of the planner.

Robotics (cs.RO)

arXiv:2608.14082 [cs.RO]

(or arXiv:2608.14082v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.14082 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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PILOT: Privileged Imitation Learning for End-to-End Motion Planning of Autonomous UAVs under Partial Observability

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