# Full 3D Quadrotor Generalization Suite

This suite is a lightweight numpy/scipy full 3D supplement. It does not use ACADOS, MuJoCo, or CasADi.

- seeds: [0, 1, 2, 3, 4]
- rollouts per scenario/seed: 48
- horizon steps: 80
- noise levels: [0.0, 0.05, 0.1, 0.2]

## Scenario structure

| Scenario | rho | kappa(V) | Peak gain |
| --- | ---: | ---: | ---: |
| Nominal Hover | 0.926008 | 108.530414 | 7.983893 |
| Heavy Payload | 0.926002 | 271.757813 | 6.923904 |
| Agile Attitude | 0.940357 | 52.401604 | 8.912704 |
| Payload Mismatch | 0.933107 | 25.394522 | 6.772842 |

## High-noise filtering summary

| Scenario | White state cov | Filtered state cov | White motor var | Filtered motor var |
| --- | ---: | ---: | ---: | ---: |
| Nominal Hover | 0.551549 | 0.089192 | 1.901316 | 0.104565 |
| Heavy Payload | 0.266570 | 0.083648 | 1.763106 | 0.146811 |
| Agile Attitude | 0.950270 | 0.174127 | 1.898488 | 0.121955 |
| Payload Mismatch | 0.336788 | 0.115505 | 1.579815 | 0.153382 |

## Boundary

These results are mechanism-oriented numerical simulations. They are not a full 3D UAV RL benchmark, real-flight validation, or a replacement for NMPC/CBF/observer-based control.
