adversariallyrobust policy learning through active ... · ajay mandlekar, yuke zhu, animesh garg,...

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Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations Ajay Mandlekar, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese Department of Computer Science, Stanford University Introduction Demonstrated Robustness in Physical Dynamics Parameters ARPL Algorithm Physically-Plausible Threat Model Experimental Setup References ARPL Agent Examples

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Page 1: AdversariallyRobust Policy Learning through Active ... · Ajay Mandlekar, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese ... They are then updated in the environment. Observation

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

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