SWAP embeds symmetry equivariance into world models and policies, enabling a quadruped to leap 2.13m gaps and climb 1.63m platforms with robust generalization to mirrored and outdoor terrains.
On-robot learning with equivariant models,
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SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour
SWAP embeds symmetry equivariance into world models and policies, enabling a quadruped to leap 2.13m gaps and climb 1.63m platforms with robust generalization to mirrored and outdoor terrains.