pwm imitation learning

[aklein1995]

What feature are you suggesting?

Overview:

As far as I know, there are example scripts for imitation learning (IL) with car and with discrete action spaces.
Considering the time it took to make a quadrotor flight with motion planning, it'd helpful to collect data and then use with IL.

Smaller Details:

The lowest level in which quadrotor can be controlled right now is with PWM signals (if not, please feel free to correct me). It would be very useful to have a feature that allows to execute actions (either from human demonstrations or a given policy) and that allows to monitor which PWM signals would have been applied, so that it could be a mapping between the current state and the expected action in terms of PWM signals.

Nature of Request:

• Addition
  • Iam not very familiar with AirSim, but what I have seen it suggests that these changes have to be made at C++ and then passed with the PythonClient API.

Why would this feature be useful?

Research in the fields of Imitation Learning and Reinforcement Learning for low-level control (using AirSim).