# First Pass
**Category:** 
Simulation paper that talks about using a recovery controller in combination 
with a nominal controller that is learned. The boundary to swtich between
the two is a learned boundary.

**Context:** 
Drones

**Correctness:** 
Not very. They do really well in the intro and methodology, but shit hits the fan
when it comes to the results.

**Contributions:** 
The biggest contributions these guys make is demonstrating feasibility of their 

**Clarity:** 

# Second Pass
**What is the main thrust?**

**What is the supporting evidence?**

**What are the key findings?**

# Third Pass
**Recreation Notes:**

**Hidden Findings:**

**Weak Points? Strong Points?**