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Variance Reduced Domain Randomization for Policy Gradient
In this paper, we theoretically derive a bias-free and state/environment-dependent optimal baseline for DR, and analytically show its ability to achieve further variance reduction over the standard constant and state-dependent baselines for DR. We further propose a variance reduced domain randomization (VRDR) approach for policy gradient methods, to strike a tradeoff between the variance reduction and computational complexity in practice.
PAC-Bayesian Randomized Value Function with Informative Prior
To address this, in this paper, we propose a Bayesian linear regression with informative prior (IP-BLR) operator to leverage the data-dependent prior in the learning process of randomized value function, which can leverage the statistics of training results from previous iterations.
Monotonic Robust Policy Optimization with Model Discrepancy
To mitigate the model discrepancy between training and target (testing) environments, domain randomization (DR) can generate plenty of environments with a sufficient diversity by randomly sampling environment parameters in simulator.
