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Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity

2026-07-06 22:14:49
Pavlo Kupyn, Yuya Hamamatsu, Roza Gkliva, Asko Ristolainen, Maarja Kruusmaa
arXiv_RO
       
Abstract

This study proposes a neural network-based transfer learning framework for modeling the dynamics of soft, fin-actuated underwater robots. We focus on morphologically similar robots that differ in scale and hydrodynamic properties. A model trained on data from a larger robot (source domain) is adapted to a smaller one (target domain) with limited labeled data. To enable label-efficient transfer, we develop an autoencoder-based domain adaptation approach that learns a shared latent representation aligning the dynamics of both robots. Experiments on two real underwater robots show that the proposed method enables accurate state estimation of the body-frame velocities on a target platform without labeled data, highlighting its potential for efficient cross-robot dynamics transfer among morphologically similar platforms.

Abstract (translated)

URL

https://arxiv.org/abs/2607.05665

PDF

https://arxiv.org/pdf/2607.05665.pdf

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