Four tasks have been implemented: Hovering, Balloon-hitting, Tracking Lemniscate, Avoid Dynamic Obstacle.

Hovering

Description: quadrotors are expected to be initialized randomly inside a cube with a side length of 2 meters, then converge into the center and hover until the end of the episode.

Balloon-hitting

Description: this task is essentially a variation of the hovering task, but with a key difference: the quadrotor moves at a higher speed, rapidly dashing toward the target without hovering demand.

Tracking Lemniscate

Description: tracking a lemniscate trajectory with an expected speed.

Avoid Dynamic Obstacle

Description: quadrotor starts with hovering state and try to avoid a fast moving obstacle.