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Sample efficient optimization for learning controllers for bipedal locomotion
Robotics Institute, School of Computer Science, Carnegie Mellon University, USA.ORCID iD: 0000-0002-3018-2445
Robotics Institute, School of Computer Science, Carnegie Mellon University, USA.
Robotics Institute, School of Computer Science, Carnegie Mellon University, USA.
2016 (English)In: IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, IEEE conference proceedings, 2016Conference paper, Published paper (Refereed)
Abstract [en]

Learning policies for bipedal locomotion can be difficult, as experiments are expensive and simulation does not usually transfer well to hardware. To counter this, we need algorithms that are sample efficient and inherently safe. Bayesian Optimization is a powerful sample-efficient tool for optimizing non-convex black-box functions. However, its performance can degrade in higher dimensions. We develop a distance metric for bipedal locomotion that enhances the sample-efficiency of Bayesian Optimization and use it to train a 16 dimensional neuromuscular model for planar walking. This distance metric reflects some basic gait features of healthy walking and helps us quickly eliminate a majority of unstable controllers. With our approach we can learn policies for walking in less than 100 trials for a range of challenging settings. In simulation, we show results on two different costs and on various terrains including rough ground and ramps, sloping upwards and downwards. We also perturb our models with unknown inertial disturbances analogous with differences between simulation and hardware. These results are promising, as they indicate that this method can potentially be used to learn control policies on hardware.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2016.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-221061DOI: 10.1109/HUMANOIDS.2016.7803249ISI: 000403009300004Scopus ID: 2-s2.0-85010216190OAI: oai:DiVA.org:kth-221061DiVA, id: diva2:1172984
Conference
Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
Note

QC 20171009

Available from: 2018-01-11 Created: 2018-01-11 Last updated: 2018-01-16Bibliographically approved

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