[munificent]

> If you could ensure great strategy based on learned data

That's my point. If your learned data is coming from a simulation that doesn't model actual sailboat fluid dynamics, you've learned little.

A robot that learned to sail by studying a hollow cube floating in a bathtub full of marbles is not going to be able to make an actual sailboat do anything useful out on real water.

[bodangly]

Yes getting timestamped and synchronized ground truth to build/verify your model will be quite challenging for something like this. For the drones we just took them to a mocap lab, and races are inside so we had the luxury of assuming 0 wind. The only remotely tricky part is handling ground effect from the props.