├── .clang-format ├── .gitignore ├── LICENSE ├── README.md ├── acrobatic_trajectory_helper ├── .gitignore ├── CMakeLists.txt ├── include │ └── acrobatic_trajectory_helper │ │ ├── acrobatic_sequence.h │ │ ├── circle_trajectory_helper.h │ │ ├── heading_trajectory_helper.h │ │ └── polynomial_trajectory_helper.h ├── package.xml └── src │ ├── acrobatic_sequence.cpp │ ├── circle_trajectory_helper.cpp │ ├── heading_trajectory_helper.cpp │ └── polynomial_trajectory_helper.cpp ├── conda_requirements.txt ├── controller_learning ├── CMakeLists.txt ├── README.md ├── ckpt │ └── loop │ │ ├── fts_and_imu │ │ ├── ckpt-7.data-00000-of-00002 │ │ ├── ckpt-7.data-00001-of-00002 │ │ └── ckpt-7.index │ │ └── imu_only │ │ ├── ckpt-37.data-00000-of-00002 │ │ ├── ckpt-37.data-00001-of-00002 │ │ └── ckpt-37.index ├── common.py ├── config │ ├── dagger_settings.yaml │ ├── settings.py │ ├── test_settings.yaml │ └── train_settings.yaml ├── data │ └── .gitignore ├── iterative_learning_trajectories.py ├── launch │ └── simulation │ │ ├── base_quad_simulation_no_controller.launch │ │ ├── controller.launch │ │ ├── custom_rotors_interface.launch │ │ ├── minisim.launch │ │ ├── quadrotor_empty_world_no_controller.launch │ │ ├── quadrotor_rgb_world_no_controller.launch │ │ ├── rpg_mpc.launch │ │ ├── rpg_pid.launch │ │ ├── rpg_rotors_interface.launch │ │ ├── rviz_only.launch │ │ └── simulation.launch ├── package.xml ├── results │ └── .gitignore ├── setup.py ├── src │ └── ControllerLearning │ │ ├── TrajectoryBase.py │ │ ├── TrajectoryLearning.py │ │ ├── __init__.py │ │ └── models │ │ ├── __init__.py │ │ ├── body_dataset.py │ │ ├── bodyrate_learner.py │ │ ├── nets.py │ │ └── tf_addons_normalizations.py ├── test_trajectories.py ├── train.py └── train_logs │ ├── 20191015-164750 │ └── train │ │ ├── checkpoint │ │ ├── ckpt-78.data-00000-of-00002 │ │ ├── ckpt-78.data-00001-of-00002 │ │ ├── ckpt-78.index │ │ ├── ckpt-79.data-00000-of-00002 │ │ ├── ckpt-79.data-00001-of-00002 │ │ ├── ckpt-79.index │ │ ├── ckpt-80.data-00000-of-00002 │ │ ├── ckpt-80.data-00001-of-00002 │ │ ├── ckpt-80.index │ │ └── events.out.tfevents.1571150870.elia-ThinkPad-P51.9892.82.v2 │ ├── 20191022-082718 │ └── train │ │ ├── checkpoint │ │ ├── ckpt-1078.data-00000-of-00002 │ │ ├── ckpt-1078.data-00001-of-00002 │ │ ├── ckpt-1078.index │ │ ├── ckpt-1079.data-00000-of-00002 │ │ ├── ckpt-1079.data-00001-of-00002 │ │ ├── ckpt-1079.index │ │ ├── ckpt-1080.data-00000-of-00002 │ │ ├── ckpt-1080.data-00001-of-00002 │ │ ├── ckpt-1080.index │ │ ├── ckpt.zip │ │ └── events.out.tfevents.1571725638.elia-ThinkPad-P51.29578.82.v2 │ ├── 20191022-095948 │ └── train │ │ ├── checkpoint │ │ ├── ckpt-1000.data-00000-of-00002 │ │ ├── ckpt-1000.data-00001-of-00002 │ │ ├── ckpt-1000.index │ │ ├── ckpt-998.data-00000-of-00002 │ │ ├── ckpt-998.data-00001-of-00002 │ │ ├── ckpt-998.index │ │ ├── ckpt-999.data-00000-of-00002 │ │ ├── ckpt-999.data-00001-of-00002 │ │ ├── ckpt-999.index │ │ └── events.out.tfevents.1571731188.elia-ThinkPad-P51.5931.82.v2 │ ├── 20191022-122145 │ └── train │ │ └── events.out.tfevents.1571739705.elia-ThinkPad-P51.15206.54.v2 │ ├── 20191022-122316 │ └── train │ │ └── events.out.tfevents.1571739796.elia-ThinkPad-P51.16327.54.v2 │ ├── 20191022-122551 │ └── train │ │ └── events.out.tfevents.1571739951.elia-ThinkPad-P51.16978.54.v2 │ ├── 20191022-122626 │ └── train │ │ └── events.out.tfevents.1571739986.elia-ThinkPad-P51.17446.54.v2 │ ├── 20191022-122842 │ └── train │ │ └── events.out.tfevents.1571740122.elia-ThinkPad-P51.17988.54.v2 │ ├── 20191022-123011 │ └── train │ │ └── events.out.tfevents.1571740211.elia-ThinkPad-P51.18467.54.v2 │ ├── 20191022-134158 │ └── train │ │ └── events.out.tfevents.1571744518.elia-ThinkPad-P51.27889.54.v2 │ ├── 20191022-135227 │ └── train │ │ └── events.out.tfevents.1571745147.elia-ThinkPad-P51.31014.54.v2 │ ├── 20191022-135514 │ └── train │ │ └── events.out.tfevents.1571745314.elia-ThinkPad-P51.32244.54.v2 │ ├── 20191023-115641 │ └── train │ │ └── events.out.tfevents.1571824601.elia-ThinkPad-P51.12466.54.v2 │ ├── 20191023-115844 │ └── train │ │ └── events.out.tfevents.1571824724.elia-ThinkPad-P51.13447.54.v2 │ ├── 20191023-120327 │ └── train │ │ └── events.out.tfevents.1571825007.elia-ThinkPad-P51.15260.54.v2 │ ├── 20191023-120523 │ └── train │ │ └── events.out.tfevents.1571825123.elia-ThinkPad-P51.16206.54.v2 │ ├── 20191023-120641 │ └── train │ │ └── events.out.tfevents.1571825201.elia-ThinkPad-P51.17007.54.v2 │ ├── 20191023-121605 │ └── train │ │ └── events.out.tfevents.1571825765.elia-ThinkPad-P51.19388.54.v2 │ ├── 20191023-122039 │ └── train │ │ └── events.out.tfevents.1571826039.elia-ThinkPad-P51.21241.54.v2 │ └── 20191023-122438 │ └── train │ └── events.out.tfevents.1571826278.elia-ThinkPad-P51.23680.54.v2 ├── custom_rotors_interface ├── .gitignore ├── CMakeLists.txt ├── include │ └── custom_rotors_interface │ │ └── custom_rotors_interface.h ├── package.xml ├── parameters │ ├── autopilot.yaml │ ├── custom_rotors_interface.yaml │ ├── manual_flight_assistant.yaml │ └── position_controller.yaml └── src │ ├── custom_rotors_interface.cpp │ └── custom_rotors_interface_node.cpp ├── dependencies.yaml ├── fpv_aggressive_trajectories ├── .gitignore ├── CMakeLists.txt ├── include │ └── fpv_aggressive_trajectories │ │ ├── fpv_aggressive_trajectories.h │ │ ├── odometry_republisher.h │ │ └── visualize.h ├── launch │ └── simulation │ │ ├── controller.launch │ │ ├── custom_rotors_interface.launch │ │ ├── rpg_mpc.launch │ │ ├── rpg_pid.launch │ │ └── simulation.launch ├── package.xml ├── parameters │ └── mpc_params.yaml ├── resources │ ├── race_track │ │ ├── iros_materials │ │ │ └── materials │ │ │ │ ├── scripts │ │ │ │ ├── asphalt.material │ │ │ │ ├── carpet.material │ │ │ │ ├── wall_1.material │ │ │ │ ├── wall_2.material │ │ │ │ ├── wall_3.material │ │ │ │ └── wall_4.material │ │ │ │ └── textures │ │ │ │ ├── asphalt.png │ │ │ │ ├── carpet.jpg │ │ │ │ ├── wall_1.jpeg │ │ │ │ ├── wall_2.jpeg │ │ │ │ ├── wall_3.jpeg │ │ │ │ └── wall_4.jpeg │ │ └── real_world │ │ │ └── gate │ │ │ └── meshes │ │ │ └── gate.dae │ ├── rviz │ │ ├── race_track.rviz │ │ └── real_world.rviz │ ├── simulation │ │ ├── urdf │ │ │ ├── component_snippets.xacro │ │ │ ├── hummingbird.xacro │ │ │ ├── hummingbird_base.xacro │ │ │ └── mav_generic_odometry_sensor.gazebo │ │ └── vehicles │ │ │ ├── hummingbird.gazebo │ │ │ └── hummingbird_rgbcamera300200.gazebo │ ├── urdf │ │ ├── component_snippets.xacro │ │ ├── hummingbird_base.xacro │ │ └── mav_generic_odometry_sensor_rgb.gazebo │ └── worlds │ │ ├── controller_learning.world │ │ ├── random_gates.world │ │ ├── single_gate.world │ │ └── track.world ├── rviz │ └── trajectory_comparison_looping_sim.rviz └── src │ ├── fpv_aggressive_trajectories.cpp │ ├── odometry_republisher.cpp │ └── visualize.cpp ├── img └── fma_powerloop.gif ├── odometry_converter ├── CMakeLists.txt ├── include │ └── odometry_converter │ │ └── odometry_converter.h ├── 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