mlsanityData to 14 Oct 2026

FLARE: Agile Flights for Quadrotor Cable-Suspended Payload System via Reinforcement Learning

arXiv 2508.09797 ↗First posted 13 Aug 2025cs.ROcited by 1

On the map: Deep reinforcement learning methods → RL for robot navigation and UAV control

Abstract (arXiv)

Agile flight for the quadrotor cable-suspended payload system is a formidable challenge due to its underactuated, highly nonlinear, and hybrid dynamics. Traditional optimization-based methods often struggle with high computational costs and the complexities of cable mode transitions, limiting their real-time applicability and maneuverability exploitation. In this letter, we present FLARE, a reinforcement learning (RL) framework that directly learns agile navigation policy from high-fidelity simulation. Our method is validated across three designed challenging scenarios, notably outperforming a state-of-the-art optimization-based approach by a 3x speedup during gate traversal maneuvers. Furthermore, the learned policies achieve successful zero-shot sim-to-real transfer, demonstrating remarkable agility and safety in real-world experiments, running in real time on an onboard computer.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Placed in RL for robot navigation and UAV control, one of 15 directions in Deep reinforcement learning methods. Builds on 7 of its 23 references that are in the map. First posted on arXiv 13 Aug 2025.

Builds on

7 of 23 references.

References · 7

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2021Autonomous Drone Racing with Deep Reinforcement Learningcited by 60
  3. 2020Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloadscited by 30
  4. 2024Dashing for the Golden Snitch: Multi-Drone Time-Optimal Motion Planning with Multi-Agent Reinforcement Learningcited by 6
  5. 2023AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportationcited by 4
  6. 2021PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMUcited by 3
  7. 2024HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loadscited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026ASTER: Attitude-aware Suspended-payload Quadrotor Traversal via Efficient Reinforcement Learningcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Learning to Throw: Agile and Accurate Cable-Suspended Payload Delivery with a Quadrotor
  2. 2026MAVEN: A Meta-Reinforcement Learning Framework for Varying-Dynamics Expertise in Agile Quadrotor Maneuvers
  3. 2024RESC: A Reinforcement Learning Based Search-to-Control Framework for Quadrotor Local Planning in Dense Environments
  4. 2025RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
  5. 2026Deep Reinforcement Learning for Spacecraft Attitude Control During Atmospheric Re-Entry
  6. 2025Reactive Aerobatic Flight via Reinforcement Learning
  7. 2026Agile Interception of a Flying Target using Competitive Reinforcement Learning
  8. 2026Agile Fall Recovery for Quadrotors with Bidirectional Thrust via Reinforcement Learning