{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-fast-adaptation-with-meta-strategy","title":"Learning Fast Adaptation with Meta Strategy Optimization","arxiv_id":"1909.12995","date":"2019-09-28","proceeding":null,"authors":["Wenhao Yu","Jie Tan","Yunfei Bai","Erwin Coumans","Sehoon Ha"],"abstract":"The ability to walk in new scenarios is a key milestone on the path toward real-world applications of legged robots. In this work, we introduce Meta Strategy Optimization, a meta-learning algorithm for training policies with latent variable inputs that can quickly adapt to new scenarios with a handful of trials in the target environment. The key idea behind MSO is to expose the same adaptation process, Strategy Optimization (SO), to both the training and testing phases. This allows MSO to effectively learn locomotion skills as well as a latent space that is suitable for fast adaptation. We evaluate our method on a real quadruped robot and demonstrate successful adaptation in various scenarios, including sim-to-real transfer, walking with a weakened motor, or climbing up a slope. Furthermore, we quantitatively analyze the generalization capability of the trained policy in simulated environments. Both real and simulated experiments show that our method outperforms previous methods in adaptation to novel tasks.","url_abs":"https://arxiv.org/abs/1909.12995v2","url_pdf":"https://arxiv.org/pdf/1909.12995v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"learning-fast-adaptation-with-meta-strategy","repo_url":"https://github.com/vincentyu68/policy_transfer","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok"}}],"tasks":[{"task_slug":"meta-learning","task_name":"Meta-Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1909.12995","atlas_url":"https://app.syntology.ai/?focus=1909.12995","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1909.12995"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/vincentyu68/policy_transfer","reach":{"status":"ok"}}],"summary":{"ran_honours":1},"by_repo_kind":{},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"0173e4280d9a9884","entry":"flatten_lists","repo":null,"repo_kind":null,"path":null,"file_url":null,"link_basis":"identical_code_first_harvested_elsewhere","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":null,"inline_ok":false,"mcp_get_code":{"code_sha256":"0173e4280d9a9884"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}