Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Validate on Sim, Detect on Real -- Model Selection for Domain
  Randomization   A practical approach to learning robot skills, often termed sim2real, is to
train control policies in simulation and then deploy them on a real robot.
Popular techniques to improve the sim2real transfer build on domain
randomization (DR) -- training the policy on a diverse set of randomly
generated domains with the hope of better generalization to the real world. Due
to the large number of hyper-parameters in both the policy learning and DR
algorithms, one often ends up with a large number of trained policies, where
choosing the best policy among them demands costly evaluation on the real
robot. In this work we ask - can we rank the policies without running them in
the real world? Our main idea is that a predefined set of real world data can
be used to evaluate all policies, using out-of-distribution detection (OOD)
techniques. In a sense, this approach can be seen as a `unit test' to evaluate
policies before any real world execution. However, we find that by itself, the
OOD score can be inaccurate and very sensitive to the particular OOD method.
Our main contribution is a simple-yet-effective policy score that combines OOD
with an evaluation in simulation. We show that our score - VSDR - can
significantly improve the accuracy of policy ranking without requiring
additional real world data. We evaluate the effectiveness of VSDR on sim2real
transfer in a robotic grasping task with image inputs. We extensively evaluate
different DR parameters and OOD methods, and show that VSDR improves policy
selection across the board. More importantly, our method achieves significantly
better ranking, and uses significantly less data compared to baselines. Project
website is available at https://sites.google.com/view/vsdr/home.

28
The categories of this paper are: alg-geom
15
The categories of this paper are: nucl-ex
14
The categories of this paper are: math-ph
7
The categories of this paper are: hep-th
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
18
The categories of this paper are: econ
9
The categories of this paper are: nlin
33
The categories of this paper are: plasm-ph
27
The categories of this paper are: comp-gas
12
The categories of this paper are: nucl-th
36
The categories of this paper are: cmp-lg
29
The categories of this paper are: funct-an
16
The categories of this paper are: stat
8
The categories of this paper are: hep-ex
35
The categories of this paper are: mtrl-th