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A model-free method to learn multiple skills in parallel on modular robots

Author

Listed:
  • Fuda van Diggelen

    (Vrije Universiteit Amsterdam)

  • Nicolas Cambier

    (Vrije Universiteit Amsterdam)

  • Eliseo Ferrante

    (Vrije Universiteit Amsterdam)

  • A. E. Eiben

    (Vrije Universiteit Amsterdam)

Abstract

Legged robots are well-suited for deployment in unstructured environments but require a unique control scheme specific for their design. As controllers optimised in simulation do not transfer well to the real world (the infamous sim-to-real gap), methods enabling quick learning in the real world, without any assumptions on the specific robot model and its dynamics, are necessary. In this paper, we present a generic method based on Central Pattern Generators, that enables the acquisition of basic locomotion skills in parallel, through very few trials. The novelty of our approach, underpinned by a mathematical analysis of the controller model, is to search for good initial states, instead of optimising connection weights. Empirical validation in six different robot morphologies demonstrates that our method enables robots to learn primary locomotion skills in less than 15 minutes in the real world. In the end, we showcase our skills in a targeted locomotion experiment.

Suggested Citation

  • Fuda van Diggelen & Nicolas Cambier & Eliseo Ferrante & A. E. Eiben, 2024. "A model-free method to learn multiple skills in parallel on modular robots," Nature Communications, Nature, vol. 15(1), pages 1-13, December.
    • Handle: RePEc:nat:natcom:v:15:y:2024:i:1:d:10.1038_s41467-024-50131-4
    DOI: 10.1038/s41467-024-50131-4
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    References listed on IDEAS

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    1. Henrik Lindén & Peter C. Petersen & Mikkel Vestergaard & Rune W. Berg, 2022. "Movement is governed by rotational neural dynamics in spinal motor networks," Nature, Nature, vol. 610(7932), pages 526-531, October.
    2. Antoine Cully & Jeff Clune & Danesh Tarapore & Jean-Baptiste Mouret, 2015. "Robots that can adapt like animals," Nature, Nature, vol. 521(7553), pages 503-507, May.
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