Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries
Jee-eun Lee,Jaemin Lee,Tirthankar Bandyopadhyay,Luis Sentis,Jee-eun Lee,Jaemin Lee,Tirthankar Bandyopadhyay,Luis Sentis
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system, which allows for robust extrapolation from fewer samples. Existing frameworks that represent all data in vector space fail to consider the structured informatio...
