Hi, thanks for your suggestion on symmetric data augmentation.
In FALCON decoupled training, I want to apply symmetry only to lower-body actions.
Upper body is tracking-driven, so it may not satisfy a left-right symmetry prior.
My question is:
How can I make symmetry augmentation affect only lower-body policy update, while still letting lower-body actor observe upper-body state/disturbance for balance compensation?
More specifically, I want:
Symmetry constraint on lower-body action dims only.
Upper-body tracking-related obs not to inject wrong symmetry prior into lower-body augmentation.
Lower-body actor still keeps upper-body disturbance/state inputs to react to arm-induced perturbations.
What is the recommended way in FALCON for this partial-symmetry setup?
Hi, thanks for your suggestion on symmetric data augmentation.
In FALCON decoupled training, I want to apply symmetry only to lower-body actions.
Upper body is tracking-driven, so it may not satisfy a left-right symmetry prior.
My question is:
How can I make symmetry augmentation affect only lower-body policy update, while still letting lower-body actor observe upper-body state/disturbance for balance compensation?
More specifically, I want:
Symmetry constraint on lower-body action dims only.
Upper-body tracking-related obs not to inject wrong symmetry prior into lower-body augmentation.
Lower-body actor still keeps upper-body disturbance/state inputs to react to arm-induced perturbations.
What is the recommended way in FALCON for this partial-symmetry setup?