This article probably deserves more critical attention than I've given it,
but it's published in IEEE Spectrum:
https://spectrum.ieee.org/drone-quadrotor
they have videos on Youtube:
https://www.youtube.com/watch?v=NRD43ZA1D-4
https://www.youtube.com/watch?v=EYtPG_HmBd8
source code on github:
https://github.com/arplaboratory/learning-to-fly
and a preprint on arxiv:
https://arxiv.org/abs/2311.13081
Via hackernews.
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