DiffAero: A GPU-Accelerated Differentiable Simulation Framework for Efficient Quadrotor Policy Learning

arXiv:2509.10247v1 Announce Type: cross Abstract: This letter introduces DiffAero, a lightweight, GPU-accelerated, and fully differentiable simulation framework designed for efficient quadrotor control policy learning. DiffAero supports both environment-level and agent-level parallelism and integrates multiple dynamics models, customizable sensor stacks (IMU, depth camera, and LiDAR), and diverse flight tasks within a unified, GPU-native training interface. By fully parallelizing both physics an