{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T14:10:19Z","timestamp":1780668619100,"version":"3.54.1"},"reference-count":49,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Hong Kong Center for Logistics Robotics"},{"name":"DARPA Transfer from Imprecise and Abstract Models to Autonomous Technologies"},{"name":"Graduate Division Block Grant of the Department of Mechanical Engineering","award":["N00014-21-1-2801"],"award-info":[{"award-number":["N00014-21-1-2801"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3577037","type":"journal-article","created":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T13:39:40Z","timestamp":1749130780000},"page":"3948-3964","source":"Crossref","is-referenced-by-count":10,"title":["A Learning-Based Quadcopter Controller With Extreme Adaptation"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-8053-7755","authenticated-orcid":false,"given":"Dingqi","family":"Zhang","sequence":"first","affiliation":[{"name":"High Performance Robotics Lab, Department of Mechanical Engineering, UC Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8410-3933","authenticated-orcid":false,"given":"Antonio","family":"Loquercio","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4863-354X","authenticated-orcid":false,"given":"Jerry","family":"Tang","sequence":"additional","affiliation":[{"name":"High Performance Robotics Lab, Department of Mechanical Engineering, UC Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-9493-7789","authenticated-orcid":false,"given":"Ting-Hao","family":"Wang","sequence":"additional","affiliation":[{"name":"High Performance Robotics Lab, Department of Mechanical Engineering, UC Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jitendra","family":"Malik","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, University of California at Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0557-5677","authenticated-orcid":false,"given":"Mark W.","family":"Mueller","sequence":"additional","affiliation":[{"name":"High Performance Robotics Lab, Department of Mechanical Engineering, UC Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.03.010"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434236"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)55954-6"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2007.914282"},{"key":"ref5","doi-asserted-by":"crossref","DOI":"10.1137\/1.9780898719376","volume-title":"L1 Adaptive Control Theory: Guaranteed Robustness with Fast Adaptation","author":"Hovakimyan","year":"2010"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2318871"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.3182\/20140824-6-ZA-1003.00680"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2015.2495023"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.23919\/ACC60939.2024.10644611"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3131690"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/iros45743.2020.9341154"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1115\/1.4030419"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.2514\/1.g001490"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2720851"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1145\/3301273"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636053"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811564"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-023-06419-4"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812122"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341998"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3431988"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm6597"},{"key":"ref23","first-page":"326340. [Online]. Available:","article-title":"DATT: Deep adaptive trajectory tracking for quadrotor control","volume-title":"Proc. 7th Conf. Robot Learn.","volume":"229","author":"Huang","year":"2023"},{"key":"ref24","first-page":"18931903. [Online]. Available:","article-title":"GenLoco: Generalized locomotion controllers for quadrupedal robots","volume-title":"Proc. 6th Conf. Robot Learn., Ser. Mach. Learn.","volume":"205","author":"Feng","year":"2023"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.040"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3396025"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967695"},{"key":"ref28","article-title":"Learning to fly via deep model-based reinforcement learning","author":"Becker-Ehmck","year":"2020"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160836"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.011"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206474"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2479878"},{"key":"ref34","first-page":"317","article-title":"Learning locomotion skills for Cassie: Iterative design and sim-to-real","volume-title":"Proc. Conf. Robot Learn.","volume":"100","author":"Xie","year":"2020"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610049"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160760"},{"key":"ref37","first-page":"1147","article-title":"Flightmare: A flexible quadrotor simulator","volume-title":"Proc. Conf. Robot Learn.","volume":"155","author":"Song","year":"2021"},{"key":"ref38","article-title":"Multicopter attitude control for recovery from large disturbances","author":"Mueller","year":"2018"},{"key":"ref39","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref40","first-page":"1","article-title":"MNN: A universal and efficient inference engine","volume-title":"Proc. Mach. Learn. Syst.","volume":"2","author":"Jiang","year":"2020"},{"key":"ref41","first-page":"249","article-title":"Walle: An end-to-end, general-purpose, and large-scale production system for device-cloud collaborative machine learning","volume-title":"Proc. 16th USENIX Symp. Operating Syst. Des. Implementation","author":"Lv","year":"2022"},{"key":"ref42","volume-title":"Statistics (International Student Edition)","author":"Freedman","year":"2007"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-00296-0_5"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794274"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2976308"},{"key":"ref46","first-page":"627","article-title":"A reduction of imitation learning and structured prediction to no-regret online learning","volume-title":"Proc. 14th Int. Conf. Artif. Intell. Statist.","volume":"15","author":"Ross","year":"2011"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/iros45743.2020.9341154"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3177279"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2020.3001117"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/11025148.pdf?arnumber=11025148","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T05:18:12Z","timestamp":1768627092000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11025148\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":49,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3577037","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}