A Details on experiments

The HalfCheetahRandV el environment was introduced in Finn et al. The Walker2DRandParams environment is defined similarly. For full descriptions of the ProMP and TRPO-MAML algorithms, please refer to the cited papers. We use the implementations in the codebase provided by Rothfuss et al. Each iteration of ProMP (TRPO-MAML) requires twice as many steps from the simulator as DRS+PPO (DRS+TRPO).