# Robust Adversarial Reinforcement Learning

arXiv: https://arxiv.org/abs/1703.02702 · HTML: https://mlsanity.com/paper/1703.02702/

## Key facts

- Cited by 451 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Mar 2017.

## Built on by (most cited first, 30 of 451)

- [Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning](https://mlsanity.com/paper/2108.06266/) (2021)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned](https://mlsanity.com/paper/2102.02915/) (2021)
- [Maximum Entropy RL (Provably) Solves Some Robust RL Problems](https://mlsanity.com/paper/2103.06257/) (2021)
- [A Survey of Zero-shot Generalisation in Deep Reinforcement Learning](https://mlsanity.com/paper/2111.09794/) (2021)
- [Robust Reinforcement Learning on State Observations with Learned Optimal Adversary](https://mlsanity.com/paper/2101.08452/) (2021)
- [Recurrent Model-Free RL Can Be a Strong Baseline for Many POMDPs](https://mlsanity.com/paper/2110.05038/) (2021)
- [RAMBO-RL: Robust Adversarial Model-Based Offline Reinforcement Learning](https://mlsanity.com/paper/2204.12581/) (2022)
- [A Survey of Multi-Agent Deep Reinforcement Learning with Communication](https://mlsanity.com/paper/2203.08975/) (2022)
- [Online Robust Reinforcement Learning with Model Uncertainty](https://mlsanity.com/paper/2109.14523/) (2021)
- [Robust Reinforcement Learning using Offline Data](https://mlsanity.com/paper/2208.05129/) (2022)
- [RORL: Robust Offline Reinforcement Learning via Conservative Smoothing](https://mlsanity.com/paper/2206.02829/) (2022)
- [Sample Complexity of Robust Reinforcement Learning with a Generative Model](https://mlsanity.com/paper/2112.01506/) (2021)
- [Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation](https://mlsanity.com/paper/2307.03659/) (2023)
- [Policy Gradient Method For Robust Reinforcement Learning](https://mlsanity.com/paper/2205.07344/) (2022)
- [Robot Learning from Randomized Simulations: A Review](https://mlsanity.com/paper/2111.00956/) (2021)
- [How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence](https://mlsanity.com/paper/2305.01263/) (2023)
- [R.A.C.E.: Robust Adversarial Concept Erasure for Secure Text-to-Image Diffusion Model](https://mlsanity.com/paper/2405.16341/) (2024)
- [Who Is the Strongest Enemy? Towards Optimal and Efficient Evasion Attacks in Deep RL](https://mlsanity.com/paper/2106.05087/) (2021)
- [Double Pessimism is Provably Efficient for Distributionally Robust Offline Reinforcement Learning: Generic Algorithm and Robust Partial Coverage](https://mlsanity.com/paper/2305.09659/) (2023)
- [Reinforcement Learning for Selective Key Applications in Power Systems: Recent Advances and Future Challenges](https://mlsanity.com/paper/2102.01168/) (2021)
- [safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning in Robotics](https://mlsanity.com/paper/2109.06325/) (2021)
- [Sound Adversarial Audio-Visual Navigation](https://mlsanity.com/paper/2202.10910/) (2022)
- [Twice regularized MDPs and the equivalence between robustness and regularization](https://mlsanity.com/paper/2110.06267/) (2021)
- [Contextualize Me -- The Case for Context in Reinforcement Learning](https://mlsanity.com/paper/2202.04500/) (2022)
- [Interpretable and Explainable Logical Policies via Neurally Guided Symbolic Abstraction](https://mlsanity.com/paper/2306.01439/) (2023)
- [Kinetix: Investigating the Training of General Agents through Open-Ended Physics-Based Control Tasks](https://mlsanity.com/paper/2410.23208/) (2024)
- [Improved Sample Complexity Bounds for Distributionally Robust Reinforcement Learning](https://mlsanity.com/paper/2303.02783/) (2023)
- [Efficient Risk-Averse Reinforcement Learning](https://mlsanity.com/paper/2205.05138/) (2022)
- [Efficient Adversarial Training without Attacking: Worst-Case-Aware Robust Reinforcement Learning](https://mlsanity.com/paper/2210.05927/) (2022)

## Abstract (arXiv)

Deep neural networks coupled with fast simulation and improved computation have led to recent successes in the field of reinforcement learning (RL). However, most current RL-based approaches fail to generalize since: (a) the gap between simulation and real world is so large that policy-learning approaches fail to transfer; (b) even if policy learning is done in real world, the data scarcity leads to failed generalization from training to test scenarios (e.g., due to different friction or object masses). Inspired from H-infinity control methods, we note that both modeling errors and differences in training and test scenarios can be viewed as extra forces/disturbances in the system. This paper proposes the idea of robust adversarial reinforcement learning (RARL), where we train an agent to operate in the presence of a destabilizing adversary that applies disturbance forces to the system. The jointly trained adversary is reinforced -- that is, it learns an optimal destabilization policy. We formulate the policy learning as a zero-sum, minimax objective function. Extensive experiments in multiple environments (InvertedPendulum, HalfCheetah, Swimmer, Hopper and Walker2d) conclusively demonstrate that our method (a) improves training stability; (b) is robust to differences in training/test conditions; and c) outperform the baseline even in the absence of the adversary.