Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry
Shengchao Yan,Baohe Zhang,Yuan Zhang,Joschka Boedecker,Wolfram Burgard,Shengchao Yan,Baohe Zhang,Yuan Zhang,Joschka Boedecker,Wolfram Burgard
Geometric regularity, which leverages data symmetry, has been successfully incorporated into deep learning architectures such as CNNs, RNNs, GNNs, and Transformers. While this concept has been widely applied in robotics to address the curse of dimensionality when learning from high-dimensional data, the inherent reflectional and rotational symmetry of robot structures has not been adequately explo...
