I think that the idea of using the residual model (trained on high-resolution outside-in pose estimation) to correct the inside-out model is particularly interesting because it might actually be possible to generalize; if the kinematics residuals (basically the delta between simulation training and the real world aerodynamic + inertial behavior of the aircraft) are able to be made general enough to reflect the flight dynamics of the drone, rather than the specific actions on a specific course, this is a promising approach for general purpose flight.

It's a really fascinating approach compared to most "AI-guided" drones which use models for vision and pathfinding but a traditional IMU+PID loop for kinematic control.