Autonomous Helicopter Flight
Andrew Ng
Pieter Abbeel
Adam Coates
Timothy Hunter
Morgan Quigley


The goal of this project is to push the state-of-the-art in autonomous helicopter flight: extreme aerobatics under computer control.


Autonomous Helicopter Aerobatics through Apprenticeship Learning, Pieter Abbeel, Adam Coates, and Andrew Y. Ng. IJRR, 2010.[Dataset]

Learning for Control from Multiple Demonstrations, Adam Coates, Pieter Abbeel, and Andrew Y. Ng. ICML, 2008. Best Application Paper Award[pdf] [ Supplementary Material (Videos)]

Autonomous Autorotation of an RC Helicopter, Pieter Abbeel, Adam Coates, Timothy Hunter, and Andrew Y. Ng. In International Symposium on Robotics, 2008.Ben Wegbreit IFRR Student Fellowship Award[pdf][Supplementary Material (Videos)]

An Application of Reinforcement Learning to Aerobatic Helicopter Flight, Pieter Abbeel, Adam Coates, Morgan Quigley, and Andrew Y. Ng. In NIPS 19, 2007.[pdf]

A Learning vehicular dynamics, with application to modeling helicopters, Pieter Abbeel, Varun Ganapathi, and Andrew Y. Ng. In NIPS 18, 2006.[pdf]

Inverted autonomous helicopter flight via reinforcement learning, Andrew Y. Ng, Adam Coates, Mark Diel, Varun Ganapathi, Jamie Schulte, Ben Tse, Eric Berger and Eric Liang. In International Symposium on Experimental Robotics, 2004.[pdf]

Video Links

Autonomous Airshow
Autonomous Chaos
Stanford Helicopter Autonomous Channel
Stanford news article with video
ICML 2008 Talk, Helsinki, Finland
Autonomous Nose-In Funnels
Autonomous Tail-In Funnels
Inverted Hovering
Autonomous Rolls
Autonomous Flips
Autonomous rolls from single demonstration
Autonomous flips from single demonstration
Autonomous flips from multiple demonstrations
Tic-toc learning (short)
Tic-toc learning (long)
Tic-toc from multiple demonstrations and online learning
Autonomous airshow


High Resolution Pictures
Large Rolls Mosaic
Large Flips Mosaic


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