{"paper":{"title":"Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Feitong Chen, Lin Shao, Qinsi Wang, Xiang Zhang, Xinghao Zhu, Xingyu Liu, Yang Gang, Yuqi Xiang","submitted_at":"2023-10-07T22:01:49Z","abstract_excerpt":"The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills. Specifically, $\\textit{Diff-Transfer}$ discovers a feasible path within the task space that brings the source task to the target task. At each pair of adjacent points along this task path, which is two sub-tasks, $\\textit{Diff-Transfer}$ adapts known actions from one sub-task to tackle the other sub-task successfull"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.04930","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.04930/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}