论文标题

在未经敏感的动态载荷下进行双皮亚运动的SIM到现实学习

Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads

论文作者

Dao, Jeremy, Green, Kevin, Duan, Helei, Fern, Alan, Hurst, Jonathan

论文摘要

最近关于双皮亚运动的SIM到现实学习的工作表明,在各种地形上的鲁棒性和敏捷性水平。但是,这项工作以及大多数先前的两足动力工作,在各种外部载荷下都没有考虑显着影响整体系统动力学的运动。在许多应用中,机器人需要在各种潜在的动态载荷下保持强大的运动,例如拉车或携带一个大容器的倾斜液体容器,理想情况下,不需要额外的负载感应功能。在这项工作中,我们探讨了仅使用本体感受反馈的动态载荷,在动态载荷下进行了增强学习的功能(RL)和SIM转移的功能。我们表明,对某些负载进行了用于卸载的运动训练的先前的RL政策失败,并且在负载的背景下,简单地训练足以实现成功和改进的策略。我们还比较了每种负载的培训专业政策与所有考虑的负载的单个策略,并分析所得步态如何改变以适应不同的负载。最后,我们展示了SIM到实现的转移,这是成功的,但比以前的卸载工作表明了更大的SIM到空隙差距,这表明了有趣的未来研究。

Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipedal locomotion work, have not considered locomotion under a variety of external loads that can significantly influence the overall system dynamics. In many applications, robots will need to maintain robust locomotion under a wide range of potential dynamic loads, such as pulling a cart or carrying a large container of sloshing liquid, ideally without requiring additional load-sensing capabilities. In this work, we explore the capabilities of reinforcement learning (RL) and sim-to-real transfer for bipedal locomotion under dynamic loads using only proprioceptive feedback. We show that prior RL policies trained for unloaded locomotion fail for some loads and that simply training in the context of loads is enough to result in successful and improved policies. We also compare training specialized policies for each load versus a single policy for all considered loads and analyze how the resulting gaits change to accommodate different loads. Finally, we demonstrate sim-to-real transfer, which is successful but shows a wider sim-to-real gap than prior unloaded work, which points to interesting future research.

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