Physics filtering favors the generalization of robot learning
It is shown that robots can generalize effectively under dynamics uncertainties even with limited training data by leveraging a feedback mechanism, namely PhyFilter, that corrects learning outputs with physics-filtered learning residuals, and shows that physics-filtered feedback can serve as a powerful alternative to massive data scaling.
Jindou Jia, Shixu Han, Meng Wang et al.
· npj Robotics · 1 citation