Know Thyself: Transferable Visuomotor Control
Through Robot-Awareness
We address the problem of transferring a policy trained on one robot to another robot. Our method, Robot-Aware Control (RAC), composes an analytical robot-specific dynamics model with a learned robot-agnostic world dynamics model and optimizes a robot-agnostic planning cost to enable zero-shot transfer to unseen robots.
Know Thyself: Transferable Visuomotor Control
Through Robot-Awareness

We address the problem of transferring a policy trained on one robot to another robot. Our method, Robot-Aware Control (RAC), composes an analytical robot-specific dynamics model with a learned robot-agnostic world dynamics model with and optimizes a robot-agnostic planning cost to enable zero-shot transfer to unseen robots.