Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Learning Robust Policy against Disturbance in Transition Dynamics via
  State-Conservative Policy Optimization   Deep reinforcement learning algorithms can perform poorly in real-world tasks
due to the discrepancy between source and target environments. This discrepancy
is commonly viewed as the disturbance in transition dynamics. Many existing
algorithms learn robust policies by modeling the disturbance and applying it to
source environments during training, which usually requires prior knowledge
about the disturbance and control of simulators. However, these algorithms can
fail in scenarios where the disturbance from target environments is unknown or
is intractable to model in simulators. To tackle this problem, we propose a
novel model-free actor-critic algorithm -- namely, state-conservative policy
optimization (SCPO) -- to learn robust policies without modeling the
disturbance in advance. Specifically, SCPO reduces the disturbance in
transition dynamics to that in state space and then approximates it by a simple
gradient-based regularizer. The appealing features of SCPO include that it is
simple to implement and does not require additional knowledge about the
disturbance or specially designed simulators. Experiments in several robot
control tasks demonstrate that SCPO learns robust policies against the
disturbance in transition dynamics.

22
The categories of this paper are: chao-dyn
13
The categories of this paper are: quant-ph
37
The categories of this paper are: supr-con
5
The categories of this paper are: gr-qc
36
The categories of this paper are: cmp-lg
18
The categories of this paper are: econ
35
The categories of this paper are: mtrl-th
32
The categories of this paper are: atom-ph
20
The categories of this paper are: acc-phys
14
The categories of this paper are: math-ph
34
The categories of this paper are: chem-ph
26
The categories of this paper are: bayes-an
9
The categories of this paper are: nlin
11
The categories of this paper are: hep-lat
2
The categories of this paper are: math
33
The categories of this paper are: plasm-ph