VIDEO KEY:
1. amortized_policy: This folder has videos showing the behaviour of amortized policies learned from scratch using MPC+MPO+BC on the various tasks presented in the paper (best results from Figure 2 in the main text). Each video has 5 episodes. For the go-to-target-pose (GTTP) tasks we show behaviours from executing the mean (_mean) as well as stochastic samples (_stochastic) of the amortized policy's action distribution. For the Walking tasks, which have little randomization in the initialization of each episode, we show four stochastic trajectories sampled from the amortized policy followed by the execution of the mean (final episode in each video).


2. taskagnostic_proposal: In this folder we show videos of stochastic samples from the task-agnostic proposal (depends only on proprioceptive observations) that we use for the planner results (Section 5.1) and the transfer experiments (Sections 5.3 & 5.4). As this proposal lacks task-specific information it can only learn average behaviour for the GTTP tasks which amounts to walking in random directions. On the Walking tasks the proposal does learn to walk reasonably fast but can easily collide with walls as it does not have access to the relative target direction and consequently, cannot correct for heading errors. As before, we show 5 episodes per task.


3. op3_gttp: In this folder, we compare the behaviours from different learning from scratch variants (MPO, MPO+BC, MPC+MPO, MPC+MPO+BC) described in the paper (Section 5.2) on the OP3 GTTP task. This is to give an idea of the relative performance of different variants, and should provide a visual representation of the results from Figure 2 (bottom left). We show 5 episodes each from the amortized policies learned by the different variants (labelled _mean), and stochastic samples for MPC+MPO+BC (labelled _stochastic), and also present videos showing the actor (labelled _actorwithmpc_pplan0.5) behaviour for the two MPC variants.

These videos can also be seen on the project website: https://sites.google.com/view/mbrl-amortization/home