By computing gradients through a learned dynamics model while unrolling trajectories in the real simulator, DMO achieves SHAC-level sample efficiency with standard simulators and deploys on a real quadruped.
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First Order Model-Based RL through Decoupled Backpropagation
By computing gradients through a learned dynamics model while unrolling trajectories in the real simulator, DMO achieves SHAC-level sample efficiency with standard simulators and deploys on a real quadruped.