A Learning-based Quadcopter Controller with Extreme Adaptation

This repo contains the code associated with the paper A Learning-based Quadcopter Controller with Extreme Adaptation

Paper and Video

If you use this code in an academic context, please cite the following publication:

Paper: A Learning-based Quadcopter Controller with Extreme Adaptation

Video: YouTube

@misc{zhang2024learningbasedquadcoptercontrollerextreme,
      title={A Learning-based Quadcopter Controller with Extreme Adaptation}, 
      author={Dingqi Zhang and Antonio Loquercio and Jerry Tang and Ting-Hao Wang and Jitendra Malik and Mark W. Mueller},
      year={2024},
      eprint={2409.12949},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2409.12949}, 
}

Usage

We can run the following scipts to see the simulation of trajectory tracking with our controller.

bash setup.bash