Yan Miao — accepted AI-conference papers

2026

Performance-Guided Refinement for Visual Aerial Navigation Using Editable Gaussian Splatting in FalconGym 2.0

Yan Miao, Ege Yuceel, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Sayan Mitra

ICRA 2026poster

Visual policy design is crucial for aerial navigation. However, state-of-the-art visual policies often overfit to a single track and their performance degrades when track geometry changes. We develop FalconGym 2.0, a photorealistic simulation framework built on Gaussian Splatting (GSplat) with an Ed…

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2025

FalconGym: A Photorealistic Simulation Framework for Zero-Shot Sim-to-Real Vision-Based Quadrotor Navigation

Yan Miao, William Shen, Sayan Mitra

IROS 2025

We present a novel framework demonstrating zero-shot sim-to-real transfer of visual control policies learned in a Neural Radiance Field (NeRF) environment for quadrotors to fly through racing gates. Robust transfer from simulation to real flight poses a major challenge, as standard simulators often

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