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PPO quad racing in our sim: 5.7 s laps, shaky take-off

Trained a quad to race a 90 m figure-eight gate track with PPO in our sim (Unreal Engine 5 + JSBSim). 96 drones in parallel, 100M steps on a laptop. The policy commands body rates, sees simulated sensors through an estimator and never gets ground truth. Median lap is 5.7 s. A time-optimal planner (…

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  1. 2026-10-11 11:38 · r/reinforcementlearning
    PPO quad racing in our sim: 5.7 s laps, shaky take-off

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