Before revision:  Once such a policy is learned on one legged robot, it does not directly generalize to a different robot due to dynamical differences, which increases the cost of learning such a policy on new robots. To overcome this challenge , we learn dynamics-aware navigation policies across multiple robots with robot-specific embeddings , which enable generalization to new unseen robots .
After revision:  To enable transfer of policies learned in simulation to new legged robots and hardware , we learn dynamics-aware navigation policies across multiple robots with robot-specific embeddings , which enable generalization to new unseen robots .