Theory 035/Robotics & Autonomy
Transfer Follows Embodiment
The claim
Manipulation policies transfer between robots only when the ratio of task-relevant to embodiment-specific degrees of freedom exceeds a threshold.
01The mechanism
A policy learned with embodiment-specific cues must relearn them on a new body; the more of the policy that is task-general, the better transfer.
02Predictions
- P1Transfer should track the ratio.
- P2Policies dominated by body-specific cues should fail.
03Refutation
Transfer independent of the ratio would favour generic pretraining.