刺激的な行動：筋骨格ヒューマノイドの歩行学習における効率的な探索の検討
Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion
筋骨格ヒューマノイドの歩行・走行制御を、少数の実演データを用いた敵対的模倣学習で学習し、自然な歩容を実現した研究。
著者: Henri-Jacques Geiß, Firas Al-Hafez, Andre Seyfarth, Jan Peters, Davide Tateo
分類: cs.RO, cs.LG
原文アブストラクト
Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn human-like gaits because of the complexity involved in engineering an effective reward function. In this paper, we demonstrate that adversarial imitation learning can address this issue by analyzing key problems and providing solutions using both current literature and novel techniques. We validate our methodology by learning walking and running gaits on a simulated humanoid model with 16 degrees of freedom and 92 Muscle-Tendon Units, achieving natural-looking gaits with only a few demonstrations.
