Generalized Robot Dynamics Learning and Gen2Real Transfer
Dengpeng Xing,Yiming Yang,Zechang Wang,Jiale Li,Bo Xu,Dengpeng Xing,Yiming Yang,Zechang Wang,Jiale Li,Bo Xu
Acquiring dynamics is critical for robot learning and is fundamental to planning and control. This paper concerns two fundamental questions: How can we learn a model that covers massive, diverse robot dynamics? Can we construct a model that lifts the data-collection pain and domain expertise required for building specific robot models? We learn the dynamics involved in a dataset containing a large...
