End-to-end example-based sim-to-real RL policy transfer based on neural stylisation with application to robotic cutting

Description

Whereas reinforcement learning has been applied with success to a range of robotic control problems in complex, uncertain environments, reliance on extensive data - typically sourced from simulation environments - limits real-world deployment due to the domain gap between simulated and physical systems, coupled with limited real-world sample availability. We propose a novel method for sim-to-real transfer of reinforcement learning policies, based on a reinterpretation of neural style transfer fr

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