# REFLEX：一种用于软四旋翼鲁棒自主碰撞恢复的学习式机载反射机制

> 原文链接：https://robotics.hellobike.com/papers/2026-10-11-2610-15867
> 频道：papers | 更新日期：2026-10-11 | 标签：arxiv, cs.RO
> 核心摘要：REFLEX在飞控上运行，用本体感知循环策略实现碰撞后恢复，并在仿真训练和硬件墙撞实验中验证。

# REFLEX：一种用于软四旋翼鲁棒自主碰撞恢复的学习式机载反射机制

::: v-pre
> 原文链接：[REFLEX: A Learned On-Board Reflex for Robust Autonomous Collision Recovery of Soft Quadrotors](https://arxiv.org/abs/2610.15867)（arXiv 2610.15867 · 发布日期：2026-10-11）

**REFLEX: A Learned On-Board Reflex for Robust Autonomous Collision Recovery of Soft Quadrotors**

REFLEX在飞控上运行，用本体感知循环策略实现碰撞后恢复，并在仿真训练和硬件墙撞实验中验证。

## 核心要点

- 抗碰撞机架能承受撞击，但高速碰撞后估计器可能拒绝有效外部速度，影响自主恢复。
- REFLEX无需接触传感器或伴随计算机，在飞控上用本体感知循环策略稳定飞行器。
- 策略用PPO在仿真中训练，初始状态来自47次真实碰撞测得的碰后状态。
- 5.03±0.09 m/s墙撞恢复19/22次，匹配原厂自驾仪为1/14次。

**验证范围与局限**：验证范围为仿真训练、硬件墙面撞击实验，以及一次探索飞行中的两次更高速恢复。

## 英文摘要 (Abstract)

Collision-resilient airframes allow quadrotors to survive impacts, but do not ensure autonomous post-collision recovery. Innovation gating in stock onboard estimators often rejects valid external velocity measurements after high-speed impacts, compromising recovery. We present REFLEX, a collision-recovery flight mode that runs entirely on the flight controller, requiring neither contact sensors nor a companion computer. Its proprioceptive recurrent policy stabilizes the vehicle without position, velocity, heading, or altitude estimates. The translational estimate is reinitialized while REFLEX is active, and a trust gate checks estimator consistency before returning control to the stock autopilot. The policy is trained in simulation using proximal policy optimization, with episodes initialized from post-impact states measured in 47 real collisions. In hardware experiments, REFLEX recovered 19 of 22 wall impacts at 5.03 $\pm$ 0.09 m/s, compared with 1 of 14 for the matched stock autopilot. These included 15 consecutive recoveries in a single flight. A separate exploratory flight demonstrated two additional recoveries at 6.02 and 6.05 m/s within the same flight, exceeding the previously reported velocity for autonomous wall-collision recovery by 64%.

作者：Jakob Hermeler, Luca Girardi, Gabriel Maquignaz, Stefan Leutenegger, Stefano Mintchev
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## 原始参考来源 (Sources)

- [arXiv 2610.15867：REFLEX: A Learned On-Board Reflex for Robust Autonomous Collision Recovery of Soft Quadrotors](https://arxiv.org/abs/2610.15867)