Cross-Embodiment Study

Key Insight

Deploying a policy trained on one robot physical form directly onto a different robot platform reveals a transfer gap driven by differences in kinematics, dynamics, and sensor configurations. Conducting a structured cross-embodiment study characterizes how these physical discrepancies degrade performance and identifies which features generalize across platforms. By quantifying this gap, researchers can design better action-mapping layers and domain randomization techniques to facilitate zero-shot transfer similar to sim-to-real techniques.