Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data
Abhinav Agarwal,Sushant Veer,Allen Z. Ren,Anirudha Majumdar,Abhinav Agarwal,Sushant Veer,Allen Z. Ren,Anirudha Majumdar
We are motivated by the problem of learning policies for robotic systems with rich sensory inputs (e.g., vision) in a manner that allows us to guarantee generalization to environments unseen during training. We provide a framework for providing such generalization guarantees by leveraging a finite dataset of real-world environments in combination with a (potentially inaccurate) generative model of...
