HyperDrone: Simulation-to-Reality Transfer at Millions of Frames per Second

Jonas Eschmann; Giuseppe Loianno

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arXiv · 2610.28950

HyperDrone: Simulation-to-Reality Transfer at Millions of Frames per Second

Jonas Eschmann·Giuseppe Loianno

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Abstract

We present HyperDrone, an extremely fast quadrotor simulator focused on high-performance batch rendering that is more than 20x faster than existing state-of-the-art batch quadrotor simulators. HyperDrone combines highly optimized multirotor dynamics with HyperLux, a new ray-tracing engine that supports Nvidia OptiX, Vulkan, Apple Metal and WebGPU backends that takes full advantage of modern ray-tracing hardware, capable of running both components entirely on the GPU. HyperLux renders RGB, depth, semantic/instance segmentation, surface normals and optical flow observations at configurable levels of fidelity, including reflections, realistic lighting, motion blur, anti-aliasing, and Physically Based Rendering (PBR). Even in the highest-fidelity settings, HyperLux achieves millions of Frames Per Second (FPS) on consumer-grade GPUs while rendering realistic 3D scenes. We demonstrate the merits of HyperDrone by training a vision-based yaw-control policy purely in simulation and transferring it to a real small-scale quadrotor (Crazyflie) with a camera, running completely onboard.

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Jonas Eschmann, Giuseppe Loianno. 2026-10-20. HyperDrone: Simulation-to-Reality Transfer at Millions of Frames per Second. https://arxiv.org/abs/2610.28950

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