# Ex-DoF: Expansion of Action Degree-of-Freedom with Virtual Camera Rotation for Omnidirectional Image

arXiv: https://arxiv.org/abs/2111.12213 · HTML: https://mlsanity.com/paper/2111.12213/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Nov 2021.

## Built on by (most cited first, 1 of 1)

- [ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentation](https://mlsanity.com/paper/2210.07450/) (2022)

## Abstract (arXiv)

Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the omnidirectional camera image. The virtual rotation of the robot camera enables data augmentation in this transfer learning process. As an experimental demonstration, a vision-based control policy for a 6-DoF robot is trained using a dataset collected by a wheeled ground robot with only three DoFs. Towards the application of robotic manipulations, we also demonstrate a control system of a 6-DoF arm robot using multiple policies with different fields of view to enable object reaching tasks.