身体協調のための分散階層型移動制御器の学習
Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation
複雑な全身協調タスクを階層的に分解し、時空間連続性を活用した分散制御戦略を学習させる手法を提案し、多数エージェントへの展開可能性を示した。
著者: Chuye Hong, Kangyao Huang, Huaping Liu
分類: cs.RO
原文アブストラクト
In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down complex tasks into smaller, manageable sub-tasks. By incorporating spatiotemporal continuity features, we establish the sequential logic necessary for causal inference and cooperative behaviour in sequential tasks, thereby facilitating efficient and coordinated control strategies. Through training within this framework, we demonstrate enhanced adaptability and cooperation, leading to superior performance in task completion compared to the original methods. Moreover, we construct a set of environments as the benchmark for embodied cooperation.
