{"id":"https://openalex.org/W2956200748","doi":"https://doi.org/10.1145/3306346.3322940","title":"Learning to fly","display_name":"Learning to fly","publication_year":2019,"publication_date":"2019-07-12","ids":{"openalex":"https://openalex.org/W2956200748","doi":"https://doi.org/10.1145/3306346.3322940","mag":"2956200748"},"language":"en","primary_location":{"id":"doi:10.1145/3306346.3322940","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3306346.3322940","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3306346.3322940","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3306346.3322940","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086301079","display_name":"Jie Xu","orcid":"https://orcid.org/0000-0003-3510-3387"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jie Xu","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102975242","display_name":"Tao Du","orcid":"https://orcid.org/0000-0001-7337-7667"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tao Du","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071348677","display_name":"Michael Foshey","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Foshey","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001416316","display_name":"Beichen Li","orcid":"https://orcid.org/0000-0002-9271-0055"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Beichen Li","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101440019","display_name":"Bo Zhu","orcid":"https://orcid.org/0000-0002-1392-0928"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]},{"id":"https://openalex.org/I4210166639","display_name":"Dartmouth Hospital","ror":"https://ror.org/02j3qj605","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I4210166639"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Bo Zhu","raw_affiliation_strings":["Dartmouth College"],"affiliations":[{"raw_affiliation_string":"Dartmouth College","institution_ids":["https://openalex.org/I4210166639","https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043809595","display_name":"Adriana Schulz","orcid":"https://orcid.org/0000-0002-2464-0876"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adriana Schulz","raw_affiliation_strings":["University of Washington"],"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5086301079"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.7208,"has_fulltext":true,"cited_by_count":38,"citation_normalized_percentile":{"value":0.8787477,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"38","issue":"4","first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.759665310382843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7001421451568604},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5451282262802124},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5322069525718689},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5301105976104736},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4885483682155609},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43078354001045227},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41745537519454956},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4118833839893341},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.41175010800361633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.311288446187973},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18504676222801208},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17039942741394043},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.08495008945465088}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.759665310382843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7001421451568604},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5451282262802124},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5322069525718689},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5301105976104736},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4885483682155609},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43078354001045227},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41745537519454956},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4118833839893341},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.41175010800361633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.311288446187973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18504676222801208},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17039942741394043},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.08495008945465088},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3306346.3322940","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3306346.3322940","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3306346.3322940","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3306346.3322940","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3306346.3322940","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3306346.3322940","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8700000047683716}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2956200748.pdf","grobid_xml":"https://content.openalex.org/works/W2956200748.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1763790326","https://openalex.org/W1771410628","https://openalex.org/W1966301784","https://openalex.org/W1975523646","https://openalex.org/W2000964990","https://openalex.org/W2007660220","https://openalex.org/W2025338486","https://openalex.org/W2028208724","https://openalex.org/W2095579395","https://openalex.org/W2108734173","https://openalex.org/W2134491302","https://openalex.org/W2135043890","https://openalex.org/W2166377112","https://openalex.org/W2169209873","https://openalex.org/W2172062546","https://openalex.org/W2215024960","https://openalex.org/W2501620068","https://openalex.org/W2551300340","https://openalex.org/W2605102758","https://openalex.org/W2733312032","https://openalex.org/W2736422420","https://openalex.org/W2738612304","https://openalex.org/W2738968852","https://openalex.org/W2739330054","https://openalex.org/W2769052358","https://openalex.org/W2796290181","https://openalex.org/W2811027829","https://openalex.org/W2811441028","https://openalex.org/W2903078559","https://openalex.org/W2962822327","https://openalex.org/W2962957005","https://openalex.org/W2963184939","https://openalex.org/W2963280855","https://openalex.org/W2964262254","https://openalex.org/W3101442004","https://openalex.org/W3104515094","https://openalex.org/W3106462682"],"related_works":["https://openalex.org/W4256132489","https://openalex.org/W2162492316","https://openalex.org/W2359012561","https://openalex.org/W1538523502","https://openalex.org/W2156481787","https://openalex.org/W1521857137","https://openalex.org/W2901251206","https://openalex.org/W2156285637","https://openalex.org/W2167546557","https://openalex.org/W4390416207"],"abstract_inverted_index":{"Hybrid":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"(UAV)":[4],"combine":[5],"advantages":[6],"of":[7,129],"multicopters":[8],"and":[9,15,90,122,136,161],"fixed-wing":[10],"planes:":[11],"vertical":[12],"take-off,":[13],"landing,":[14],"low":[16],"energy":[17],"use.":[18],"However,":[19],"hybrid":[20,57,140],"UAVs":[21,141],"are":[22,163],"rarely":[23],"used":[24,97],"because":[25],"controller":[26,55,64,77,93,105,132,150],"design":[27,46,65],"is":[28,151],"challenging":[29],"due":[30],"to":[31,43,153],"its":[32],"complex,":[33],"mixed":[34],"dynamics.":[35,102],"In":[36],"this":[37,45],"paper,":[38],"we":[39],"propose":[40],"a":[41,50,61,67],"method":[42],"automate":[44],"process":[47],"by":[48,73],"training":[49],"mode-free,":[51],"model-agnostic":[52],"neural":[53,62],"network":[54,63],"for":[56,98,107],"UAVs.":[58],"We":[59,125],"present":[60],"with":[66,100],"novel":[68],"error":[69],"convolution":[70],"input":[71],"trained":[72],"reinforcement":[74],"learning.":[75],"Our":[76],"exhibits":[78],"two":[79],"key":[80],"features:":[81],"First,":[82],"it":[83],"does":[84],"not":[85],"distinguish":[86],"among":[87],"flying":[88],"modes,":[89],"the":[91,117,127,130,149,155],"same":[92],"structure":[94],"can":[95],"be":[96],"copters":[99],"various":[101],"Second,":[103],"our":[104,138],"works":[106],"real":[108,123],"models":[109],"without":[110],"any":[111],"additional":[112],"parameter":[113],"tuning":[114],"process,":[115],"closing":[116],"gap":[118],"between":[119],"virtual":[120],"simulation":[121,135],"fabrication.":[124],"demonstrate":[126],"efficacy":[128],"proposed":[131],"both":[133,159],"in":[134,137,165],"custom-built":[139],"(Figure":[142],"1,":[143],"8).":[144],"The":[145],"experiments":[146],"show":[147],"that":[148],"robust":[152],"exploit":[154],"complex":[156],"dynamics":[157],"when":[158],"rotors":[160],"wings":[162],"active":[164],"flight":[166],"tests.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-07-23T00:00:00"}
