Auto-Tuned Sim-to-Real Transfer
Yuqing Du Olivia Watkins Trevor Darrell Pieter Abbeel Deepak Pathak Yuqing Du Olivia Watkins Trevor Darrell Pieter Abbeel Deepak Pathak
Policies trained in simulation often fail when transferred to the real world due to the ‘reality gap’ where the simulator is unable to accurately capture the dynamics and visual properties of the real world. Current approaches to tackle this problem, such as domain randomization, require prior knowledge and engineering to determine how much to randomize system parameters in order to learn a policy...