A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models
Diego Agudelo-España,Andrii Zadaianchuk,Philippe Wenk,Aditya Garg,Joel Akpo,Felix Grimminger,Julian Viereck,Maximilien Naveau,Ludovic Righetti,Georg Martius,Andreas Krause,Bernhard Schölkopf,Stefan Bauer,Manuel Wüthrich,Diego Agudelo-España,Andrii Zadaianchuk,Philippe Wenk,Aditya Garg,Joel Akpo,Felix Grimminger,Julian Viereck,Maximilien Naveau,Ludovic Righetti,Georg Martius,Andreas Krause,Bernhard Schölkopf,Stefan Bauer,Manuel Wüthrich
In the context of model-based reinforcement learning and control, a large number of methods for learning system dynamics have been proposed in recent years. The purpose of these learned models is to synthesize new control policies. An important open question is how robust current dynamics-learning methods are to shifts in the data distribution due to changes in the control policy. We present a rea...
