RAPO uses a dual robust RL formulation with trajectory-level adversarial networks and model-level Boltzmann reweighting over dynamics ensembles to improve policy resilience and out-of-distribution generalization while keeping the problem tractable.
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Robust Adversarial Policy Optimization Under Dynamics Uncertainty
RAPO uses a dual robust RL formulation with trajectory-level adversarial networks and model-level Boltzmann reweighting over dynamics ensembles to improve policy resilience and out-of-distribution generalization while keeping the problem tractable.