Adversarially RobustPolicyLearningthroughActiveConstructionofPhysically-PlausiblePerturbations

AjayMandlekar,Yuke Zhu,Animesh Garg,LiFei-Fei,SilvioSavareseDepartmentofComputerScience,StanfordUniversity

Introduction

Demonstrated Robustness in Physical Dynamics Parameters

ARPL Algorithm

Physically-Plausible Threat Model

Experimental Setup

References

ARPL Agent Examples