Author here.

I've spent the last six months replicating the paper "Champion-level drone racing using deep reinforcement learning" and now I'm writing down the blog posts I wish I had along the way.

Any feedback is welcome, especially as I'm a bit unsure if I struck the right balance between being concise and not requiring too many prerequisites.

Also if you're working on RL and robotics (especially aerial), let's connect!

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avidiax 4 hours ago | parent | next [-]

I assume you are going to start introducing all the 2nd and 3rd order effects? One big one is ground effect, and another is vortex ring state/settling with power and the related translational lift, and the props themselves have p-factor and the dirty air effect for the rear props.

	▲	quibono 2 hours ago \| parent [-]
		Are there any resources you know of on modelling ground effect? I’m curious how this would change the dynamics from the post.

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dvh 5 hours ago | parent | prev [-]

Isn't it just bi-copter?

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palata 4 hours ago | parent [-]

No, it's a quadcopter setup, but simulated in a 2D world (I guess for simplicity). A bi-copter would require tiltrotors, which is different.

	▲	echoangle 3 hours ago \| parent [-]
		In 2D, a bi-rotor is equivalent to the quadcopter in the post. There are 2 thrusts you control to guide the thing.