b6846b0186a035fcc76b1b1d26fd42fa-Supplemental.pdf

We compared RAPS with the latest state-of-the-art work that incorporates DMPs with Deep RL: Neural Dynamic Policies [6]. One question that may arise is: How useful isthe dummy primitive? We runanexperiment with and without thedummy primitiveinorder toevaluate itsimpact, and find that the dummy primitive improves performance significantly. Each image depicts the solution of one of the tasks, we omit the bottom burner task as it is the goal is the same as the top burner task, just with a different dial to turn. For the sequential multi-task version of the environment, in a single episode, the goal is to complete four different subtasks.