Domain Adaptation with Adaptive Imagination for Visual Reinforcement Learning under Limited Target Data

Sim-to-real transfer remains a major obstacle for reinforcement learning (RL), especially for vision-based control where image observations exacerbate the state-distribution shift between simulation and the real world. Domain adaptation (DA) is a promising remedy for this challenge. Prior sim-to-real DA works have demonstrated encouraging results, yet these approaches typically assume substantially more target data, which is not available in practice. Indeed, their performance degrades significantly when the target data budget is reduced. To address this challenge, we propose AIDA (Adaptive Im