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Publikation

Transferring Learned Robot Skills via Federated Reinforcement Learning

Khalil Abuibaid; Vinit Vikas Hegiste; Nigora Gafur; Tatjana Legler; Achim Wagner; Martin Ruskowski
In: Proceedings of the German Robotics Conference. German Robotics Conference (GRC-2025), keine DOI, 2025.

Zusammenfassung

In this paper, we propose a concept used federated reinforcement learning (FRL) framework designed to facilitate the transfer of learned robot skills, such as peg-in-hole insertion tasks. This framework enables new robots to acquire taskspecific skills through a shared global model while maintaining the privacy of their sensors and environmental data. We introduce a novel FRL framework to overcome the challenges associated with skill transfer in robotic systems.