Focus-Then-Reuse: Fast Adaptation in Visual Perturbation Environments

Visual reinforcement learning has shown promise in various real-world applications. However, deploying policies in complex real-world environments with visual perturbations remains a significant challenge. We notice that humans tend to filter information at the object level prior to decision-making, facilitating efficient skill transfer across different contexts. Inspired by this, we introduce Focus-ThenReuse (FTR), a method utilizing a novel object selection mechanism to focus on task-relevant objects, and directly reuse the simulation-trained policy on them.