arXiv
Open Access
2023
From Rolling Over to Walking: Enabling Humanoid Robots to Develop Complex Motor Skills
Fanxing Meng
Jing Xiao
Abstrak
This paper presents an innovative method for humanoid robots to acquire a comprehensive set of motor skills through reinforcement learning. The approach utilizes an achievement-triggered multi-path reward function rooted in developmental robotics principles, facilitating the robot to learn gross motor skills typically mastered by human infants within a single training phase. The proposed method outperforms standard reinforcement learning techniques in success rates and learning speed within a simulation environment. By leveraging the principles of self-discovery and exploration integral to infant learning, this method holds the potential to significantly advance humanoid robot motor skill acquisition.
Topik & Kata Kunci
Penulis (2)
F
Fanxing Meng
J
Jing Xiao
Akses Cepat
Informasi Jurnal
- Tahun Terbit
- 2023
- Bahasa
- en
- Sumber Database
- arXiv
- Akses
- Open Access ✓