Before revision:  We train our agent in realistic AirSim simulations using both  hand-crafted and human reward functions. We deploy the same agent on a real DJI M210 drone in order to test  generalization capability of our approach to real world conditions.
After revision:  We train our agent in realistic AirSim simulations using both hand-crafted reward function as well as reward from direct human input. We then deploy the same agent on a real DJI M210 drone in order to test generalization capability of our approach to real world conditions.