Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors
Sven Gronauer,Matthias Kissel,Luca Sacchetto,Mathias Korte,Klaus Diepold,Sven Gronauer,Matthias Kissel,Luca Sacchetto,Mathias Korte,Klaus Diepold
In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard sensor data as input and run entirely on the embed-ded hardware. In real-world experiments, we compare low-level Pulse-Width Modulated control with higher-leve...
