Using Soft Actor-Critic for Low-Level UAV Control
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Abstract (arXiv)
Unmanned Aerial Vehicles (UAVs), or drones, have recently been used in several civil application domains from organ delivery to remote locations to wireless network coverage. These platforms, however, are naturally unstable systems for which many different control approaches have been proposed. Generally based on classic and modern control, these algorithms require knowledge of the robot's dynamics. However, recently, model-free reinforcement learning has been successfully used for controlling drones without any prior knowledge of the robot model. In this work, we present a framework to train the Soft Actor-Critic (SAC) algorithm to low-level control of a quadrotor in a go-to-target task. All experiments were conducted under simulation. With the experiments, we show that SAC can not only learn a robust policy, but it can also cope with unseen scenarios. Videos from the simulations are available in https://www.youtube.com/watch?v=9z8vGs0Ri5g and the code in https://github.com/larocs/SAC_uav.
Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). First posted on arXiv 5 Oct 2020.
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Citing papers per year: 2022: 3; 2023: 0; 2024: 0; 2025: 2.
5 papers.
- 2022Soft Actor-Critic Deep Reinforcement Learning for Fault Tolerant Flight Controlcited by 3
- 2025Reinforcement Learning Position Control of a Quadrotor Using Soft Actor-Critic (SAC)cited by 2
- 2022Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Deep Reinforcement Learning Through Environmental Generalizationcited by 1
- 2025Dynamic Entropy Tuning in Reinforcement Learning Low-Level Quadcopter Control: Stochasticity vs Determinismcited by 1
- 2022Designing a Robust Low-Level Agnostic Controller for a Quadrotor with Actor-Critic Reinforcement Learningcited by 0
- 2025Dynamic Entropy Tuning in Reinforcement Learning Low-Level Quadcopter Control: Stochasticity vs Determinism20 Dec 2025
- 2025Reinforcement Learning Position Control of a Quadrotor Using Soft Actor-Critic (SAC)20 Dec 2025
- 2022Designing a Robust Low-Level Agnostic Controller for a Quadrotor with Actor-Critic Reinforcement Learning6 Oct 2022
- 2022Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Deep Reinforcement Learning Through Environmental Generalization13 Sep 2022
- 2022Soft Actor-Critic Deep Reinforcement Learning for Fault Tolerant Flight Control16 Feb 2022