Dream to Fly: Model-Based Reinforcement Learning for Vision-Based Drone Flight

Angel Romero*, Ashwin Shenai*, Ismail Geles, Elie Aljalbout, Davide Scaramuzza

Arxiv 2025

Actor-Critic Model Predictive Control: Differentiable Optimization meets Reinforcement Learning

Angel Romero, Elie Aljalbout, Yunlong Song, Davide Scaramuzza

Arxiv 2025

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza

CoRL 2024

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Maria Krinner*, Angel Romero*, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza

RSS 2024

Demonstrating Agile Flight from Pixels without State Estimation

Ismail Geles*, Leonard Bauersfeld*, Angel Romero, Jiaxu Xing, Davide Scaramuzza

RSS 2024 (Outstanding Demo Paper Award)

Actor-Critic Model Predictive Control

Angel Romero, Yunlong Song, Davide Scaramuzza

ICRA 2024

Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learning

Yunlong Song, Angel Romero, Mathias Mueller, Vladlen Koltun, Davide Scaramuzza

Science Robotics 2023

Learning to Walk and Fly with Adversarial Motion Priors

Giuseppe L'Erario, Drew Hanover, Angel Romero, Yunlong Song, Gabriele Nava, Paolo Maria Viceconte, Daniele Pucci, Davide Scaramuzza

IROS 2024

Cracking Double-Blind Review: Authorship Attribution with Deep Learning

Leonard Bauersfeld*, Angel Romero*, Manasi Muglikar, Davide Scaramuzza

PLOS ONE 2023

Weighted maximum likelihood for controller tuning

Angel Romero*, Shreedhar Govil*, Gonca Yilmaz*, Yunlong Song, Davide Scaramuzza

ICRA 2023

Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight

Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, and Davide Scaramuzza

Science Robotics 2022

Model predictive contouring control for time-optimal quadrotor flight

Angel Romero, Sihao Sun, Philipp Foehn, Davide Scaramuzza

TRO 2022

Time-optimal online replanning for agile quadrotor flight

Angel Romero, Robert Penicka, Davide Scaramuzza

RAL 2022

A comparative study of nonlinear MPC and differential-flatness-based control for quadrotor agile flight

Sihao Sun, Angel Romero, Philipp Foehn, Elia Kaufmann, Davide Scaramuzza

TRO 2022

Time-optimal planning for quadrotor waypoint flight

Philipp Foehn, Angel Romero, Davide Scaramuzza

Science Robotics 2021

Nonlinear control of quadcopters via approximate dynamic programming

Angel Romero, Paul N Beuchat, Yvonne R Stürz, Roy S Smith, John Lygeros

ECC 2019