Fast Online Adaptation in Robotics through Meta-Learning Embeddings of Simulated Priors

Meta-learning algorithms can accelerate the model-based reinforcement learning (MBRL) algorithms by finding an initial set of parameters for the dynamical model such that the model can be trained to match the actual dynamics of the system with only a few data-points. However, in the real world, a robot might encounter any situation starting from motor failures to finding itself in a rocky terrain where the dynamics of the robot can be significantly different from one another... (read more)

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METHOD TYPE
MAML
Meta-Learning Algorithms
Entropy Regularization
Regularization
PPO
Policy Gradient Methods