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Jul, 2024
激动的动作：研究肌骨骼人形机器人运动学习的高效探索
Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion
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Henri-Jacques Geiß, Firas Al-Hafez, Andre Seyfarth, Jan Peters, Davide Tateo
TL;DR
使用对抗模仿学习分析问题并提供解决方案，通过仅使用少量演示，在具有16个自由度和92个肌腱单元的模拟人型模型上学习行走和奔跑步态，实现了自然且类似人类的步态。
Abstract
Learning a
locomotion controller
for a
musculoskeletal system
is challenging due to over-actuation and high-dimensional action space. While many
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