- ICRA 2018
- https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8461237
- incorporating domain knowledge, with a focus on bipedal locomotion
- a seperate GP capturing the dismatch (gap) of sim2real
3 A General Locomotion Distance Metric
- domain specific metric
- may be tuned by ARD
- 1-d kernel
- speed up, table
- one more dimention, model the dismatch
- a separate Gaussian Process, prior of zero
- ... is "a training point" for the GP
- i.e. trainable kernel
- \(\phi_{x_i}^{adj} = [\phi(x_i), g_*(x_i)]\)
