Embodiment Randomization for Cross Embodiment Navigation

We present Embodiment Randomization, a simple, inexpensive, and intuitive technique for training robust behavior policies that can be transferred to multiple robot embodiments. While prior works require real-world data from multiple robots, or complex algorithmic adjustments to address the chal- lenge of embodiment generalization, our approach leverages the power of simulation and large-scale reinforcement learning and can be easily integrated within existing policy learning methods. We show that policies trained with embodiment randomization implicitly perform system identification, enabling them to adapt to new embodiments during deployment. Our approach not only shows significant improvements in adapting to novel robot con- figurations, but also in generalizing from simulation to reality and contending with real-world perturbations, highlighting the potential of embodiment randomization in creating versatile and adaptable robotic navigation policies.