Ahmet Bilgehan Serçe

Waypoint Navigation of a 2D Drone in Stochastic Environment via Regularised Proximal Policy Optimisation

A three‐stage training pipeline that combines imitation learning and reinforcement learning for 2D drone waypoint navigation is presented, finding that training reward and critic explained variance are unreliable proxies for navigation quality, underscoring the need to evaluate policies on held‐out targets.