Symmetry Considerations for Learning Task Symmetric Robot Policies
Mayank Mittal,Nikita Rudin,Victor Klemm,Arthur Allshire,Marco Hutter,Mayank Mittal,Nikita Rudin,Victor Klemm,Arthur Allshire,Marco Hutter
Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively. Often, the learned behaviors fail to achieve the desired transformation invariances and suffer from motion artifacts. For instance, a quadruped may exhibit different gaits when commanded to move forward or backward, ev...
