Publications

2025

1. 

   The Reality Gap in Robotics: Challenges, Solutions, and Best Practices

   Elie Aljalbout, Jiaxu Xing, Angel Romero, and 9 more authors

   Annual Review of Control, Robotics, and Autonomous Systems, 2025

   Bib PDF Website

   @article{aljalbout2025reality,
     title = {The Reality Gap in Robotics: Challenges, Solutions, and Best Practices},
     author = {Aljalbout, Elie and Xing, Jiaxu and Romero, Angel and Akinola, Iretiayo and Garrett, Caelan and Heiden, Eric and Gupta, Abhishek and Hermans, Tucker and Narang, Yash and Fox, Dieter and Scaramuzza, Davide and Ramos, Fabio},
     journal = {Annual Review of Control, Robotics, and Autonomous Systems},
     year = {2025},
     publisher = {Annual Review of Control, Robotics, and Autonomous Systems}
   }

2. 

   What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework

   Hongze Wang, Boyang Sun, Jiaxu Xing, and 5 more authors

   arXiv Preprint, 2025

   Bib PDF

   @article{wang2025matters,
     title = {What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework},
     author = {Wang, Hongze and Sun, Boyang and Xing, Jiaxu and Yang, Fan and Hutter, Marco and Shah, Dhruv and Scaramuzza, Davide and Pollefeys, Marc},
     journal = {arXiv Preprint},
     year = {2025}
   }

3. 

   Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection

   Richard Kuhlmann, Jakob Worlfram, Boyang Sun, and 4 more authors

   arXiv Preprint, 2025

   Bib PDF Website

   @article{kuhlmann2025sight,
     title = {Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection},
     author = {Kuhlmann, Richard and Worlfram, Jakob and Sun, Boyang and Xing, Jiaxu and Scaramuzza, Davide and Pollefeys, Marc and Cadena, Cesar},
     journal = {arXiv Preprint},
     year = {2025}
   }

4. 

   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}
   }

5. 

   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},
   }

6. 

   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},
   }

7. 

   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}
   }

8. 

   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},
   }