Focused Adaptation of Dynamics Models for Deformable Object Manipulation
Peter Mitrano,Alex LaGrassa,Oliver Kroemer,Dmitry Berenson,Peter Mitrano,Alex LaGrassa,Oliver Kroemer,Dmitry Berenson
In order to efficiently learn a dynamics model for a task in a new environment, one can adapt a model learned in a similar source environment. However, existing adaptation methods can fail when the target dataset contains transitions where the dynamics are very different from the source environment. For example, the source environment dynamics could be of a rope manipulated in free space, whereas ...
