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Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks

Josip Josifovski(1), Mohammadhossein Malmir(1), Noah Klarmann(2), Bare Luka Zagar(1), Nicolás Navarro-Guerrero(3) and Alois Knoll(1)

(1) Department of Informatics, Technical University of Munich, Germany
(2) Rosenheim University of Applied Sciences, Rosenheim, Germany
(3) Deutsches Forschungszentrum für Künstliche Intelligenz GmbH, Germany.

This work has been financially supported by AI4DI project, which has received funding from the ECSEL Joint Undertaking (JU) under grant agreement No.\ 826060. The JU receives support from the European Union’s Horizon 2020 research and innovation programme, Germany, Austria, Czech Republic, Italy, Latvia, Belgium, Lithuania, France, Greece, Finland, and Norway.

Accepted to IROS 2022, preprint

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