Author here, was pretty surprised to see this on HN when browsing over my coffee this morning. Your interpretation is correct, you use an encoder-decoder model to figure out what the dimensions of the task best for learning are.
The drawback is you can only learn tasks which are relatively similar (any time you restrict what motions are possible to improve learning, you obviously restrict what tasks are possible). The benefit is that you can learn tasks which do fall within the learned motion ranges a lot more quickly.
The best analogy within 'classical' control is task space control, where you do control in cartesian dimensions rather than the joint positions. But this has its own drawbacks in that you have to define these controllers manually, and Cartesian space is not sufficiently expressive / appropriate for many tasks.
Yup, BD is doing amazing things in the hardware space, though obviously still loads of planning & SW involved in their robot. One of their engineers gave a talk at my campus last semester, crazy what they are doing now with pushing the limits on topological optimisation, printing components including metal etc to push weight down and strength up.
In the article I focus mostly on the software aspects b/c it's more accessible when getting started if you aren't in grad school (+ what I have most experience with).
Hi, I didn't know you were the OP of the article. If you're interested in adding a Books section in the future, you may want to include Robotics: Modelling, Planning and Control by Bruno Siciliano, an all-time classic reading in most introductory robotics university courses.
The drawback is you can only learn tasks which are relatively similar (any time you restrict what motions are possible to improve learning, you obviously restrict what tasks are possible). The benefit is that you can learn tasks which do fall within the learned motion ranges a lot more quickly.
The best analogy within 'classical' control is task space control, where you do control in cartesian dimensions rather than the joint positions. But this has its own drawbacks in that you have to define these controllers manually, and Cartesian space is not sufficiently expressive / appropriate for many tasks.