Adversarial Training is Not Ready for Robot Learning
Mathias Lechner Ramin Hasani Radu Grosu Daniela Rus Thomas A. Henzinger Mathias Lechner Ramin Hasani Radu Grosu Daniela Rus Thomas A. Henzinger
Adversarial training is an effective method to train deep learning models that are resilient to norm-bounded perturbations, with the cost of nominal performance drop. While adversarial training appears to enhance the robustness and safety of a deep model deployed in open-world decision-critical applications, counterintuitively, it induces undesired behaviors in robot learning settings. In this pap...