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From Rolling Over to Walking: Enabling Humanoid Robots to Develop Complex Motor Skills
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.Comment: 8 pages, 9 figures. Submitted to IEEE Robotics and Automation
Letters. Video available at https://youtu.be/d0RqrW1Ezj
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