Multi-Robot Transfer Learning: A Dynamical System Perspective
This work addresses the challenge of reducing training time and risks in robotics by enabling efficient knowledge transfer between similar robots, though it is incremental as it builds on existing transfer learning concepts.
The paper tackled the problem of multi-robot transfer learning by theoretically analyzing optimal transfer maps as dynamic systems and providing an algorithm to determine their properties, achieving a 60-70% reduction in transfer learning error in experiments with quadrotors.
Multi-robot transfer learning allows a robot to use data generated by a second, similar robot to improve its own behavior. The potential advantages are reducing the time of training and the unavoidable risks that exist during the training phase. Transfer learning algorithms aim to find an optimal transfer map between different robots. In this paper, we investigate, through a theoretical study of single-input single-output (SISO) systems, the properties of such optimal transfer maps. We first show that the optimal transfer learning map is, in general, a dynamic system. The main contribution of the paper is to provide an algorithm for determining the properties of this optimal dynamic map including its order and regressors (i.e., the variables it depends on). The proposed algorithm does not require detailed knowledge of the robots' dynamics, but relies on basic system properties easily obtainable through simple experimental tests. We validate the proposed algorithm experimentally through an example of transfer learning between two different quadrotor platforms. Experimental results show that an optimal dynamic map, with correct properties obtained from our proposed algorithm, achieves 60-70% reduction of transfer learning error compared to the cases when the data is directly transferred or transferred using an optimal static map.