Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in a simulation that transfer remarkably well to multiple different physical quadrotors. Our policies are low-level, i.e., we map the rotorcrafts' state directly to the motor outputs. The trained control policies are very robust to external disturbances and can withstand harsh initial conditions such as throws. To the best of our knowledge, this is the first work