A Additional Experimental Results

Cross Robot Transfer Robot action primitives are agnostic to the exact geometry of the underlying robot, provided the robot is a manipulator arm. As a result, one could plausibly ask the question: is it possible to train RAPS on one robot and evaluate on a morphologically different robot for the same task? In order to answer this question, we train a higher level policy over RAPS from visual input to solve the door opening task in Robosuite using the xARM 7. We then directly transfer this policy (zero-shot) to an xARM 6 robot. The transferred policy is able to achieve 100% success rate on the door opening task with the 6DOF robot while trained on a 7DOF robot. To our knowledge such as result has not been shown before.