Framework for composing symmetries across configuration and task spaces to learn jointly equivariant robot policies, shown to improve generalization on dual-arm robot tasks.
Reinforcement Learning with Euclidean Data Augmentation for State-Based Continuous Control,
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Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
Framework for composing symmetries across configuration and task spaces to learn jointly equivariant robot policies, shown to improve generalization on dual-arm robot tasks.