# Few-shot model-based adaptation in noisy conditions

arXiv: https://arxiv.org/abs/2010.08397 · HTML: https://mlsanity.com/paper/2010.08397/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Oct 2020.

## Built on by (most cited first, 4 of 4)

- [Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms](https://mlsanity.com/paper/2103.03697/) (2021)
- [DROPO: Sim-to-Real Transfer with Offline Domain Randomization](https://mlsanity.com/paper/2201.08434/) (2022)
- [SafeAPT: Safe Simulation-to-Real Robot Learning using Diverse Policies Learned in Simulation](https://mlsanity.com/paper/2201.13248/) (2022)
- [Domain Curiosity: Learning Efficient Data Collection Strategies for Domain Adaptation](https://mlsanity.com/paper/2103.07223/) (2021)

## Abstract (arXiv)

Few-shot adaptation is a challenging problem in the context of simulation-to-real transfer in robotics, requiring safe and informative data collection. In physical systems, additional challenge may be posed by domain noise, which is present in virtually all real-world applications. In this paper, we propose to perform few-shot adaptation of dynamics models in noisy conditions using an uncertainty-aware Kalman filter-based neural network architecture. We show that the proposed method, which explicitly addresses domain noise, improves few-shot adaptation error over a blackbox adaptation LSTM baseline, and over a model-free on-policy reinforcement learning approach, which tries to learn an adaptable and informative policy at the same time. The proposed method also allows for system analysis by analyzing hidden states of the model during and after adaptation.