Evolutionary Curriculum Training for DRL-Based Navigation Systems

In recent years, Deep Reinforcement Learning (DRL) has emerged as a promising method for robot collision avoidance. However, such DRL models often come with limitations, such as adapting effectively to structured environments containing various pedestrians. In order to solve this difficulty, previous research has attempted a few approaches, including training an end-to-end solution by integrating a waypoint planner with DRL and developing a multimodal solution to mitigate the drawbacks of the DRL model. However, these approaches have encountered several issues, including slow training times, scalability challenges, and poor coordination among different models. To address these challenges, this paper introduces a novel approach called evolutionary curriculum training to tackle these challenges. The primary goal of evolutionary curriculum training is to evaluate the collision avoidance model's competency in various scenarios and create curricula to enhance its insufficient skills. The paper introduces an innovative evaluation technique to assess the DRL model's performance in navigating structured maps and avoiding dynamic obstacles. Additionally, an evolutionary training environment generates all the curriculum to improve the DRL model's inadequate skills tested in the previous evaluation. We benchmark the performance of our model across five structured environments to validate the hypothesis that this evolutionary training environment leads to a higher success rate and a lower average number of collisions. Further details and results at our project website.Comment: Robotics: Science and System

Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal

This study focuses on a layered, experience-based, multi-modal contact planning framework for agile quadrupedal locomotion over a constrained rebar environment. To this end, our hierarchical planner incorporates locomotion-specific modules into the high-level contact sequence planner and solves kinodynamically-aware trajectory optimization as the low-level motion planner. Through quantitative analysis of the experience accumulation process and experimental validation of the kinodynamic feasibility of the generated locomotion trajectories, we demonstrate that the experience planning heuristic offers an effective way of providing candidate footholds for a legged contact planner. Additionally, we introduce a guiding torso path heuristic at the global planning level to enhance the navigation success rate in the presence of environmental obstacles. Our results indicate that the torso-path guided experience accumulation requires significantly fewer offline trials to successfully reach the goal compared to regular experience accumulation. Finally, our planning framework is validated in both dynamics simulations and real hardware implementations on a quadrupedal robot provided by Skymul Inc

Fabrication and properties of zirconia/hydroxyapatite composite scaffold based on digital light processing

Zirconia and hydroxyapatite(HA) are two typical implant materials, which have the advantages of excellent mechanical strength and good biological activity respectively. It was found that composite material had good biocompatibility and mechanical strength compared to the single material. In this paper, the porous scaffolds of ZrO2/HA composite were formed by digital light processing (DLP) technology and their performance were evaluated. Cell experiments showed that the addition of HA had a positive effect on cell proliferation and differentiation. Mechanical tests showed that the composite scaffold with 10 wt% HA had the best compressive capacity due to the pinning and bridging effect of a small amount of HA grains. When scaffolds were immersed in the simulated body fluid (SBF), the compressive strengths of the composite scaffolds decreased within the first 14 days and gradually increased after 14 days. The reason for this phenomenon was the degradation of calcium phosphate components and the deposition of apatite. By the 28th day, the compressive strengths of all the composite scaffolds increased to over 20 MPa, close to that of the zirconia scaffolds during the same period (25 MPa). The compressive strengths of all scaffolds met the requirement of cancellous bone during the entire soaking period, and the composite scaffolds have potential application value in bone repair

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Blog created by Emily Asselmeier for the 2018 Freeman Asian Internship Progra