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[DL輪読会]Crossing the Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics (IROS2020)
1. 1
DEEP LEARNING JP
[DL Papers]
http://deeplearning.jp/
Jumpei Arima
Crossing the Gap:A Deep Dive into Zero-Shot Sim-
to-RealTransfer for Dynamics (IROS2020)
2. 書誌情報
• タイトル:Crossing the Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for
Dynamics
• 著者:Eugene Valassakis, Zihan Ding, and Edward Johns
– The Robot Learning Lab at Imperial College London
• 会議:IROS2020
• project page: https://www.robot-learning.uk/crossing-the-gap
• arxiv: https://arxiv.org/abs/2008.06686
• 概要:
– ロボットのアームタスクでのzero-shot sim2real transferの徹底的な検証をした
– 単にランダムな力を加えるRandom Force Injectionがパラメータ調整が大変な
Domain Randomizationと同等の性能を得られることを実験によって示した
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