Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms

  title={Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms},
  author={Ali Ghadirzadeh and Xi Chen and Petra Poklukar and Chelsea Finn and M{\aa}rten Bj{\"o}rkman and Danica Kragic},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • Ali Ghadirzadeh, Xi Chen, D. Kragic
  • Published 5 March 2021
  • Computer Science
  • 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change to the robot hardware. In this paper, we address the challenging problem of adapting a policy, trained to perform a task, to a novel robotic hardware platform given only few demonstrations of robot motion trajectories on the target robot. We formulate it as… 

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