Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience

12 Oct 2018Yevgen ChebotarAnkur HandaViktor MakoviychukMiles MacklinJan IssacNathan RatliffDieter Fox

We consider the problem of transferring policies to the real world by training on a distribution of simulated scenarios. Rather than manually tuning the randomization of simulations, we adapt the simulation parameter distribution using a few real world roll-outs interleaved with policy training... (read more)

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