Publications

2025

1. 

   Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

   Jiahe Pan, Jiaxu Xing, Rudolf Reiter, and 3 more authors

   arXiv Preprint, 2025

   Bib PDF

   @article{pan2025learning,
     title = {Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation},
     author = {Pan, Jiahe and Xing, Jiaxu and Reiter, Rudolf and Zhai, Yifan and Aljalbout, Elie and Scaramuzza, Davide},
     journal = {arXiv Preprint},
     year = {2025}
   }

2. 

   Learning Real-World Acrobatic Flight from Human Preferences

   Colin Merk, Ismail Geles, Jiaxu Xing, and 3 more authors

   arXiv Preprint, 2025

   Bib PDF

   @article{merk2025learning,
     title = {Learning Real-World Acrobatic Flight from Human Preferences},
     author = {Merk, Colin and Geles, Ismail and Xing, Jiaxu and Romero, Angel and Ramponi, Giorgia and Scaramuzza, Davide},
     journal = {arXiv Preprint},
     year = {2025},
   }

3. 

   Student-Informed Teacher Training

   Nico Messikommer, Jiaxu Xing, Elie Aljalbout, and 1 more author

   The Thirteenth International Conference on Learning Representations (ICLR), 2025

   Bib PDF Code Website

   @article{messikommer2024student,
     title = {Student-Informed Teacher Training},
     author = {Messikommer, Nico and Xing, Jiaxu and Aljalbout, Elie and Scaramuzza, Davide},
     journal = {The Thirteenth International Conference on Learning
     	           Representations (ICLR)},
     year = {2025},
   }

4. 

   ForesightNav: Learning Scene Imagination for Efficient Exploration

   Hardik Shah, Jiaxu Xing, Nico Messikommer, and 3 more authors

   In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2025

   Bib PDF Code

   @inproceedings{shah2025foresightnav,
     title = {ForesightNav: Learning Scene Imagination for Efficient
     	         Exploration},
     author = {Shah, Hardik and Xing, Jiaxu and Messikommer, Nico and Sun, Boyang and Pollefeys, Marc and Scaramuzza, Davide},
     booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision
     	             and Pattern Recognition Workshops (CVPRW)},
     year = {2025}
   }

5. 

   Environment as Policy: Learning to Race in Unseen Tracks

   Hongze Wang, Jiaxu Xing, Nico Messikommer, and 1 more author

   2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

   Bib PDF Website

   @article{wang2024environment,
     title = {Environment as Policy: Learning to Race in Unseen Tracks},
     author = {Wang, Hongze and Xing, Jiaxu and Messikommer, Nico and Scaramuzza, Davide},
     journal = {2025 IEEE International Conference on Robotics and
     	           Automation (ICRA)},
     year = {2025},
   }

2024

1. 

   Multi-task Reinforcement Learning for Quadrotors

   Jiaxu Xing, Ismail Geles, Yunlong Song, and 2 more authors

   In IEEE Robotics and Automation Letters (RA-L), 2024

   Bib PDF

   @inproceedings{xing2024multitask,
     title = {Multi-task Reinforcement Learning for Quadrotors},
     author = {Xing, Jiaxu and Geles, Ismail and Song, Yunlong and Aljalbout, Elie and Scaramuzza, Davide},
     booktitle = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2024},
     organization = {IEEE},
   }

2. 

   Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

   Jiaxu Xing, Angel Romero, Leonard Bauersfeld, and 1 more author

   8th Conference on Robot Learning (CoRL), 2024

   Bib PDF Website

   @article{xing2024bootstrapping,
     title = {Bootstrapping Reinforcement Learning with Imitation for
     	         Vision-Based Agile Flight},
     author = {Xing, Jiaxu and Romero, Angel and Bauersfeld, Leonard and Scaramuzza, Davide},
     journal = {8th Conference on Robot Learning (CoRL)},
     year = {2024},
   }

3. 

   Demonstrating Agile Flight from Pixels without State Estimation

   Ismail Geles, Leonard Bauersfeld, Angel Romero, and 2 more authors

   Robotics: Science and Systems (RSS), 2024

   Best Demo Paper Award

   Bib PDF

   @article{geles2024demonstrating,
     title = {Demonstrating Agile Flight from Pixels without State Estimation
     	         },
     author = {Geles, Ismail and Bauersfeld, Leonard and Romero, Angel and Xing, Jiaxu and Scaramuzza, Davide},
     journal = {Robotics: Science and Systems (RSS)},
     year = {2024},
     note = {<a href="https://roboticsconference.org/2024/program/awards/"><b>Best Demo Paper Award</b></a>}
   }

4. 

   Contrastive Learning for Enhancing Robust Scene Transfer in Vision-Based Agile Flight

   Jiaxu Xing, Leonard Bauersfeld, Yunlong Song, and 2 more authors

   In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib PDF

   @inproceedings{xing2024contrastive,
     title = {Contrastive Learning for Enhancing Robust Scene Transfer in
     	         Vision-Based Agile Flight},
     author = {Xing, Jiaxu and Bauersfeld, Leonard and Song, Yunlong and Xing, Chunwei and Scaramuzza, Davide},
     booktitle = {2024 IEEE International Conference on Robotics and
     	             Automation (ICRA)},
     pages = {5330--5337},
     year = {2024},
     organization = {IEEE},
   }

2023

1. 

   Autonomous Power Line Inspection with Drones via Perception-Aware MPC

   Jiaxu Xing, Giovanni Cioffi, Javier Hidalgo-Carrió, and 1 more author

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   Best Paper Award

   Bib PDF

   @inproceedings{xing2023autonomous,
     title = {Autonomous Power Line Inspection with Drones via
     	         Perception-Aware MPC},
     author = {Xing, Jiaxu and Cioffi, Giovanni and Hidalgo-Carri{\'o}, Javier and Scaramuzza, Davide},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent
     	             Robots and Systems (IROS)},
     pages = {1086--1093},
     year = {2023},
     organization = {IEEE},
     note = {<a href="https://ieee-iros.org/iros-2023-award-winners/"><b>Best Paper Award</b></a>}
   }

2022

1. 

   See Yourself in Others: Attending Multiple Tasks for Own Failure Detection

   Boyang Sun, Jiaxu Xing, Hermann Blum, and 2 more authors

   In 2022 International Conference on Robotics and Automation (ICRA), 2022

   Bib PDF

   @inproceedings{sun2022see,
     title = {See Yourself in Others: Attending Multiple Tasks for Own
     	         Failure Detection},
     author = {Sun, Boyang and Xing, Jiaxu and Blum, Hermann and Siegwart, Roland and Cadena, Cesar},
     booktitle = {2022 International Conference on Robotics and Automation
     	             (ICRA)},
     pages = {8409--8416},
     year = {2022},
     organization = {IEEE},
   }