ヒューマノイドに山道を歩かせよう！複雑なトレイル上での統合的スキル開発
Let Humanoids Hike! Integrative Skill Development on Complex Trails
視覚を備えたヒューマノイドが複雑な山道を自律的に歩くための学習フレームワークLEGO-Hを提案し、将来の局所目標を予測する時間的視覚トランスフォーマーと階層的強化学習、および特権学習によるスムーズな方策転移を組み合わせて、多様な地形や形態で頑健性を示した。
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著者: Kwan-Yee Lin, Stella X. Yu
分類: cs.RO, cs.AI, cs.CV
原文アブストラクト
Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses on motor skills without long-term goals or situational awareness, while semantic navigation overlooks real-world embodiment and local terrain variability. We propose training humanoids to hike on complex trails, driving integrative skill development across visual perception, decision making, and motor execution. We develop a learning framework, LEGO-H, that enables a vision-equipped humanoid robot to hike complex trails autonomously. We introduce two technical innovations: 1) A temporal vision transformer variant - tailored into Hierarchical Reinforcement Learning framework - anticipates future local goals to guide movement, seamlessly integrating locomotion with goal-directed navigation. 2) Latent representations of joint movement patterns, combined with hierarchical metric learning - enhance Privileged Learning scheme - enable smooth policy transfer from privileged training to onboard execution. These components allow LEGO-H to handle diverse physical and environmental challenges without relying on predefined motion patterns. Experiments across varied simulated trails and robot morphologies highlight LEGO-H's versatility and robustness, positioning hiking as a compelling testbed for embodied autonomy and LEGO-H as a baseline for future humanoid development.
