Adaptive Friction Curriculum
A curriculum learning strategy that dynamically adjusts the friction coefficient in a simulated environment during training, enabling a policy to progressively adapt to different contact conditions from easy to difficult and improving robustness and generalization.
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The research proposes a training pipeline that requires no human demonstration data, comprising diverse reset and goal generation, an adaptive friction curriculum, and fine-grained system identification.
The adaptive friction curriculum dynamically adjusts friction coefficients during training, enabling the policy to progressively adapt from easy to difficult contact conditions, thereby improving robustness.
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The research proposes a training pipeline that requires no human demonstration data, comprising diverse reset and goal generation, an adaptive friction curriculum, and fine-grained system identification.
50%UnverifiedThe adaptive friction curriculum dynamically adjusts friction coefficients during training, enabling the policy to progressively adapt from easy to difficult contact conditions, thereby improving robustness.
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