{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T02:06:15Z","timestamp":1787018775079,"version":"3.56.0"},"reference-count":57,"publisher":"SAGE Publications","issue":"13","license":[{"start":{"date-parts":[[2010,6,23]],"date-time":"2010-06-23T00:00:00Z","timestamp":1277251200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,11]]},"abstract":"<jats:p>Autonomous helicopter flight is widely regarded to be a highly challenging control problem. Despite this fact, human experts can reliably fly helicopters through a wide range of maneuvers, including aerobatic maneuvers at the edge of the helicopter\u2019s capabilities. We present apprenticeship learning algorithms, which leverage expert demonstrations to efficiently learn good controllers for tasks being demonstrated by an expert. These apprenticeship learning algorithms have enabled us to significantly extend the state of the art in autonomous helicopter aerobatics. Our experimental results include the first autonomous execution of a wide range of maneuvers, including but not limited to in-place flips, in-place rolls, loops and hurricanes, and even auto-rotation landings, chaos and tic-tocs, which only exceptional human pilots can perform. Our results also include complete airshows, which require autonomous transitions between many of these maneuvers. Our controllers perform as well as, and often even better than, our expert pilot.<\/jats:p>","DOI":"10.1177\/0278364910371999","type":"journal-article","created":{"date-parts":[[2010,6,23]],"date-time":"2010-06-23T20:24:48Z","timestamp":1277324688000},"page":"1608-1639","source":"Crossref","is-referenced-by-count":440,"title":["Autonomous Helicopter Aerobatics through Apprenticeship Learning"],"prefix":"10.1177","volume":"29","author":[{"given":"Pieter","family":"Abbeel","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adam","family":"Coates","sequence":"additional","affiliation":[{"name":"Computer Science Department, Stanford University, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrew Y.","family":"Ng","sequence":"additional","affiliation":[{"name":"Computer Science Department, Stanford University, Stanford, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2010,6,23]]},"reference":[{"key":"atypb1","author":"Abbeel, P.","year":"2008","journal-title":"Proceedings of ISER"},{"key":"atypb2","volume":"19","author":"Abbeel, P.","year":"2007","journal-title":"Proceedings of NIPS"},{"key":"atypb3","volume":"18","author":"Abbeel, P.","year":"2006","journal-title":"Proceedings of NIPS"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1145\/1015330.1015430"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1145\/1102351.1102352"},{"key":"atypb6","author":"Abbeel, P.","year":"2005","journal-title":"Proceedings of NIPS 18"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1145\/1143844.1143845"},{"key":"atypb8","volume-title":"Model-Based Control of a Robot Manipulator","author":"An, C.H.","year":"1988"},{"key":"atypb9","volume-title":"Optimal Control: Linear Quadratic Methods","author":"Anderson, B.","year":"1989"},{"issue":"1","key":"atypb10","volume":"11","author":"Atkeson, C.G.","year":"1997","journal-title":"Artificial Intelligence Review"},{"key":"atypb11","first-page":"12","author":"Atkeson, C.G.","year":"1997","journal-title":"Proceedings of the 14th International Conference on Machine Learning"},{"key":"atypb12","author":"Bagnell, J.","year":"2001","journal-title":"International Conference on Robotics and Automation"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1985.310546"},{"key":"atypb14","volume-title":"Dynamic Programming and Optimal Control, volume 1","author":"Bertsekas, D.P.","year":"2001","edition":"2"},{"key":"atypb15","volume-title":"ICML \u201806: Proceedings of the 23rd International Conference on Machine Learning","author":"Beygelzimer, A."},{"key":"atypb16","author":"Boutilier, C.","year":"1996","journal-title":"Proceedings of UAI"},{"key":"atypb17","first-page":"37","author":"Calinon, S.","year":"2007","journal-title":"IEEE Transaction on Systems, Man, and Cybernetics, Part B"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1145\/1390156.1390175"},{"key":"atypb19","author":"Dempster, A.P.","year":"1977","journal-title":"Journal of the Royal Statistical Society"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.2514\/2.4856"},{"key":"atypb21","author":"Frazzoli, E.","year":"2005","journal-title":"IEEE Transactions on Robotics"},{"key":"atypb22","volume-title":"AIAA Guidance, Navigation and Control Conference","author":"Gavrilets, V."},{"key":"atypb23","volume-title":"AIAA\/IEEE Digital Avionics Systems Conference","author":"Gavrilets, V."},{"key":"atypb24","volume-title":"Proceedings of the AIAA Guidance, Navigation, and Control Conference","author":"Gavrilets, V."},{"key":"atypb25","volume-title":"Applied Optimal Estimation","author":"Gelb, A.","year":"1974"},{"key":"atypb26","volume-title":"Differential Dynamic Programming","author":"Jacobson, D.H.","year":"1970"},{"key":"atypb27","first-page":"73244","author":"Johnson, W.","year":"1977","journal-title":"Report NASA"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"atypb29","author":"La Civita, M.","year":"2002","journal-title":"Proceedings of the 58th Forum of the American Helicopter Society"},{"key":"atypb30","volume-title":"Proceedings of the American Control Conference","author":"La Civita, M."},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.2514\/1.15796"},{"key":"atypb32","volume-title":"Optimal Landing of a Helicopter in Autorotation. 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