BodyGen: 効率的な身体と制御の共設計に向けて
BodyGen: Advancing Towards Efficient Embodiment Co-Design
トポロジー認識型自己注意と時間的クレジット割り当てで形態表現と報酬バランスを改善し、ロボットの身体と制御方策を効率的に共設計する手法を提案。
著者: Haofei Lu, Zhe Wu, Junliang Xing, Jianshu Li, Ruoyu Li, Zhe Li, Yuanchun Shi
分類: cs.RO, cs.LG, cs.SY, eess.SY
原文アブストラクト
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in optimization efficiency due to the (i) combinatorial nature of morphological search spaces and (ii) intricate dependencies between morphology and control. We prove that the ineffective morphology representation and unbalanced reward signals between the design and control stages are key obstacles to efficiency. To advance towards efficient embodiment co-design, we propose BodyGen, which utilizes (1) topology-aware self-attention for both design and control, enabling efficient morphology representation with lightweight model sizes; (2) a temporal credit assignment mechanism that ensures balanced reward signals for optimization. With our findings, Body achieves an average 60.03% performance improvement against state-of-the-art baselines. We provide codes and more results on the website: https://genesisorigin.github.io.
