Pavlo Kupyn

Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity

Pavlo Kupyn, Yuya Hamamatsu, Roza Gkliva, Asko Ristolainen, Maarja Kruusmaa

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 (sour…Read more