VB-Com: 知覚欠損下でも歩行可能な視覚・盲複合ヒューマノイド制御
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception
視覚ポリシーと盲ポリシーを状況に応じて切り替える複合フレームワークVB-Comを提案し、知覚が不十分な動的環境でもヒューマノイドが安定して歩行できることを示した。
著者: Junli Ren, Tao Huang, Huayi Wang, Zirui Wang, Qingwei Ben, Junfeng Long, Yanchao Yang, Jiangmiao Pang, Ping Luo
分類: cs.RO
原文アブストラクト
The performance of legged locomotion is closely tied to the accuracy and comprehensiveness of state observations. Blind policies, which rely solely on proprioception, are considered highly robust due to the reliability of proprioceptive observations. However, these policies significantly limit locomotion speed and often require collisions with the terrain to adapt. In contrast, Vision policies allows the robot to plan motions in advance and respond proactively to unstructured terrains with an online perception module. However, perception is often compromised by noisy real-world environments, potential sensor failures, and the limitations of current simulations in presenting dynamic or deformable terrains. Humanoid robots, with high degrees of freedom and inherently unstable morphology, are particularly susceptible to misguidance from deficient perception, which can result in falls or termination on challenging dynamic terrains. To leverage the advantages of both vision and blind policies, we propose VB-Com, a composite framework that enables humanoid robots to determine when to rely on the vision policy and when to switch to the blind policy under perceptual deficiency. We demonstrate that VB-Com effectively enables humanoid robots to traverse challenging terrains and obstacles despite perception deficiencies caused by dynamic terrains or perceptual noise.
