├── LICENSE ├── Pipfile ├── README.md ├── gym_pybullet_drones ├── CITATION.cff ├── LICENSE ├── __init__.py ├── assets │ ├── architrave.urdf │ ├── cf2.dae │ ├── cf2p.urdf │ ├── cf2x.urdf │ ├── hb.urdf │ └── quad.obj ├── control │ ├── BaseControl.py │ ├── DSLPIDControl.py │ ├── SimplePIDControl.py │ └── __init__.py ├── envs │ ├── BaseAviary.py │ ├── __init__.py │ └── single_agent_rl │ │ ├── BaseSingleAgentAviary.py │ │ ├── HoverAviary.py │ │ ├── MoveAviary.py │ │ └── __init__.py └── utils │ ├── Logger.py │ ├── __init__.py │ └── utils.py ├── out ├── images │ ├── 1.1_train_loss_hover_1.4M.jpg │ ├── 1.2_train_mean_reward_hover_1.4M.jpg │ ├── 1.3_train_value_loss_hover_1.4M.jpg │ ├── 2.1_train_loss_hover_pid_800K.jpg │ ├── 2.2_train_mean_reward_hover_pid_800K.jpg │ ├── 2.3_train_value_loss_hover_pid_800K.jpg │ ├── 3.1_train_loss_move_1M_w_penalty.jpg │ ├── 3.2_train_mean_reward_move_1M_w_penalty.jpg │ ├── 3.3_train_value_loss_move_1M_w_penalty.jpg │ ├── 4.1_train_a2c_mean_reward.jpg │ └── logo_large.png └── videos │ ├── a2c_pid │ ├── a2c_hover_pid_wnoise.gif │ ├── a2c_hover_pid_wnoise.mp4 │ └── a2c_hover_pid_wnoise.png │ ├── demo.gif │ ├── inclined_pid_hover.gif │ ├── inclined_pid_hover.mp4 │ ├── inclined_pid_hover.png │ ├── move_rpm_1.5M_diff_start.gif │ ├── move_rpm_1.5M_diff_start.mp4 │ ├── move_rpm_1.5M_diff_start.png │ ├── no_noise │ ├── hover_pid.gif │ ├── hover_pid.mp4 │ ├── hover_pid.png │ ├── hover_rpm.gif │ ├── hover_rpm.mp4 │ ├── hover_rpm.png │ ├── move_rpm_1.5M.gif │ ├── move_rpm_1.5M.mp4 │ ├── move_rpm_1.5M.png │ ├── move_rpm_1M.gif │ ├── move_rpm_1M.mp4 │ └── move_rpm_1M.png │ ├── selective_noise │ ├── hover_pid_snoise.gif │ ├── hover_pid_snoise.mp4 │ ├── hover_pid_snoise.png │ ├── hover_rpm_snoise.gif │ ├── hover_rpm_snoise.mp4 │ ├── hover_rpm_snoise.png │ ├── move_rpm_snoise_1.5M.gif │ ├── move_rpm_snoise_1.5M.mp4 │ └── move_rpm_snoise_1.5M.png │ └── white_noise │ ├── hover_pid_wnoise.gif │ ├── hover_pid_wnoise.mp4 │ ├── hover_pid_wnoise.png │ ├── hover_rpm_wnoise.gif │ ├── hover_rpm_wnoise.mp4 │ ├── hover_rpm_wnoise.png │ ├── move_rpm_wnoise_1.5M.gif │ ├── move_rpm_wnoise_1.5M.mp4 │ └── move_rpm_wnoise_1.5M.png ├── presentation ├── QuadCtrl.pdf └── demo_quad.mp4 └── src └── learning ├── results ├── foo.txt ├── save-hover-a2c-kin-pid-03.10.2022_19.51.06 │ ├── best_model.zip │ ├── evaluations.npz │ ├── success_model.zip │ └── tb │ │ └── A2C_1 │ │ └── events.out.tfevents.1646938267.alessandro.16845.0 ├── save-hover-a2c-kin-rpm-03.10.2022_21.48.24 │ ├── best_model.zip │ ├── evaluations.npz │ ├── success_model.zip │ └── tb │ │ └── A2C_1 │ │ └── events.out.tfevents.1646945305.alessandro.19831.0 ├── save-hover-ppo-kin-pid-03.08.2022_17.26.52 │ ├── best_model.zip │ ├── evaluations.npz │ ├── git_commit.txt │ ├── success_model.zip │ └── tb │ │ └── PPO_1 │ │ └── events.out.tfevents.1646756813.alessandro.6125.0 ├── save-hover-ppo-kin-rpm-03.02.2022_22.23.12 │ ├── best_model.zip │ ├── evaluations.npz │ ├── git_commit.txt │ ├── success_model.zip │ └── tb │ │ └── PPO_1 │ │ └── events.out.tfevents.1646256192.alessandro.16272.0 ├── save-hover-sac-kin-pid-03.11.2022_16.41.42 │ ├── best_model.zip │ ├── evaluations.npz │ └── tb │ │ └── SAC_1 │ │ └── events.out.tfevents.1647013303.alessandro.9363.0 ├── save-hover-sac-kin-rpm-03.11.2022_21.40.51 │ ├── best_model.zip │ ├── evaluations.npz │ └── success_model.zip ├── save-hover-td3-kin-pid-03.11.2022_17.20.01 │ ├── best_model.zip │ ├── evaluations.npz │ ├── success_model.zip │ └── tb │ │ └── TD3_1 │ │ └── events.out.tfevents.1647015607.cris-pc.34534.0 ├── save-hover-td3-kin-rpm-03.11.2022_19.51.09 │ ├── best_model.zip │ ├── evaluations.npz │ ├── success_model.zip │ └── tb │ │ └── TD3_1 │ │ └── events.out.tfevents.1647024673.cris-pc.69374.0 ├── save-move-a2c-kin-rpm-03.10.2022_23.33.43 │ ├── best_model.zip │ ├── evaluations.npz │ ├── success_model.zip │ └── tb │ │ └── A2C_1 │ │ └── events.out.tfevents.1646951623.alessandro.21571.0 ├── 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