Hello, I'm new to the robotics domain and have just started exploring Mirage. I find it is an really impressive work for zero-shot robot generalization! Currently, I'm a little confused about some concept in your paper.
First, what's the meaning of isomorphic kinematics? Does it mean the two robot have same joint number and same joint frames? But in the Fig1 shown in paper, I don't get the limitation because we just use eef and blocking controller.
Isomorphic kinematics is a concept in mechanism research that refers to two kinematic chains that have the same topological configuration. Identifying isomorphism is a key step in the process of synthesizing kinematic chains, and it's important to avoid redundancy.
Second, what's the meaning of similar workspace? Does it mean that they have similar working environment so the trained policies can have a good performance on seen tasks and scenes;
Could you please help me to solve these problems? Thank you again for your contributions to the community!
Looking forward to your reply!!
Hello, I'm new to the robotics domain and have just started exploring Mirage. I find it is an really impressive work for zero-shot robot generalization! Currently, I'm a little confused about some concept in your paper.
First, what's the meaning of
isomorphic kinematics? Does it mean the two robot have same joint number and same joint frames? But in the Fig1 shown in paper, I don't get the limitation because we just use eef and blocking controller.Second, what's the meaning of similar
workspace? Does it mean that they have similar working environment so the trained policies can have a good performance on seen tasks and scenes;Could you please help me to solve these problems? Thank you again for your contributions to the community!
Looking forward to your reply!!