{"paper":{"title":"The Power of Input: Benchmarking Zero-Shot Sim-To-Real Transfer of Reinforcement Learning Control Policies for Quadrotor Control","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Dionigi, Gabriele Costante, Giuseppe Loianno","submitted_at":"2024-10-10T07:51:43Z","abstract_excerpt":"In the last decade, data-driven approaches have become popular choices for quadrotor control, thanks to their ability to facilitate the adaptation to unknown or uncertain flight conditions. Among the different data-driven paradigms, Deep Reinforcement Learning (DRL) is currently one of the most explored. However, the design of DRL agents for Micro Aerial Vehicles (MAVs) remains an open challenge. While some works have studied the output configuration of these agents (i.e., what kind of control to compute), there is no general consensus on the type of input data these approaches should employ. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07686","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2410.07686/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}