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Learning to Fly: Stable Vision-Guided UAV Servoing with Compact Target-Centric Cues and Reinforcement Learning

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Vision-guided reinforcement learning for Unmanned Aerial Vehicles (UAVs) remains challenging due to unstable policy optimisation, aggressive exploration, and the cost of high-dimensional visual perception. In this work, we investigate long-horizon UAV visual servoing using compact target-centric cues combined with low-dimensional sensor measurements. Rather than learning directly from RGB images, lightweight target segmentation provides image-space offsets and relative depth, which are combined with quadrotor velocity and projected-gravity measurements into a compact 12D policy observation. We

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