DMA*-SH enables zero-shot generalization in contextual RL under discontinuous dynamics shifts by sharing hypernetwork-generated adapters across components, outperforming baselines on a new Actuator Inversion Benchmark.
In DMA*-SH, this cosine summarizes whether actor and critic objectives would push the shared hypernetwork parameters in similar directions under the hypothetical update
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Dynamics-Aligned Shared Hypernetworks for Contextual RL under Discontinuous Shifts
DMA*-SH enables zero-shot generalization in contextual RL under discontinuous dynamics shifts by sharing hypernetwork-generated adapters across components, outperforming baselines on a new Actuator Inversion Benchmark.