A Conformal Mapping-based Framework for Robot-to-Robot and Sim-to-Real Transfer Learning
Shijie Gao,Nicola Bezzo,Shijie Gao,Nicola Bezzo
This paper presents a novel method for transferring motion planning and control policies between a teacher and a learner robot. With this work, we propose to reduce the sim-to-real gap, transfer knowledge designed for a specific system into a different robot, and compensate for system aging and failures. To solve this problem we introduce a Schwarz–Christoffel mapping-based method to geometrically...
