We combine the effectiveness of Reinforcement Learning (RL) and the efficiency of Imitation Learning (IL) in the context of vision-based, autonomous drone racing. We focus on directly processing visual input without explicit state estimation. While RL offers a general framework for learning complex controllers through trial and error, it faces challenges regarding sample efficiency and computational demands due to the high dimensionality of visual inputs. Conversely, IL demonstrates efficiency in learning from visual demonstrations but is limited by the quality of those demonstrations and faces issues like covariate shift. To overcome these limitations, we propose a novel training framework combining RL and IL's advantages. Our framework involves three stages: initial training of a teacher policy using privileged state information, distilling this policy into a student policy using IL, and performance-constrained adaptive RL fine-tuning. Our experiments in both simulated and real-world environments demonstrate that our approach achieves superior performance and robustness than IL or RL alone in navigating a quadrotor through a racing course using only visual information without explicit state estimation.

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