Reinforced Grounded Action Transformation for Sim-to-Real Transfer
Haresh Karnan,Siddharth Desai,Josiah P. Hanna,Garrett Warnell,Peter Stone,Haresh Karnan,Siddharth Desai,Josiah P. Hanna,Garrett Warnell,Peter Stone
Robots can learn to do complex tasks in simulation, but often, learned behaviors fail to transfer well to the real world due to simulator imperfections (the "reality gap"). Some existing solutions to this sim-to-real problem, such as Grounded Action Transformation (gat), use a small amount of real-world experience to minimize the reality gap by "grounding" the simulator. While very effective in ce...
