ADAPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems

Understand

Model-free policy learning has enabled robust performance of complex tasks with relatively simple algorithms.

• However, this simplicity comes at the cost of requiring an Oracle and arguably very poor sample complexity.
• This renders such methods unsuitable for physical systems.
• Variants of model-based methods address this problem through the use of simulators, however, this gives rise to the problem of policy transfer from simulated to the physical system.