Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion
Zhaoming Xie Xingye Da Michiel van de Panne Buck Babich Animesh Garg Zhaoming Xie Xingye Da Michiel van de Panne Buck Babich Animesh Garg
Understanding the gap between simulation and reality is critical for reinforcement learning with legged robots, which are largely trained in simulation. However, recent work has resulted in sometimes conflicting conclusions with regard to which factors are important for success, including the role of dynamics randomization. In this paper, we aim to provide clarity and understanding on the role of ...