Khái niệm cốt lõi
Introducing an arm-constrained curriculum learning framework for loco-manipulation of wheel-legged robots to enhance agility and object manipulation capabilities.
Tóm tắt
The content introduces an arm-constrained curriculum learning framework for loco-manipulation of wheel-legged robots. It addresses challenges in coordinating hybrid locomotion and manipulation tasks, ensuring safety and stability. The structure includes two-phase learning with behavior cloning, constrained Markov decision process (CMDP), constrained proximal policy optimization, and reward-aware curriculum learning. Simulation tests validate the approach's tracking accuracy, while real-robot tests demonstrate completion of teleoperation tasks and dynamic manipulation. Ablation studies highlight the importance of curriculum learning and the arm-constrained critic network.
I. Introduction
Incorporating a robotic manipulator into a wheel-legged robot enhances agility.
Challenges include instability and uncertainties in control objectives.
Proposed arm-constrained curriculum learning architecture to address issues.
II. Related Work
RL-based control of legged robots shows impressive performance.
Loco-manipulation for legged robots involves complex interactions.
III. Preliminary
Constrained Markov Decision Process (CMDP) explained.
Constrained Proximal Policy Optimization detailed.
IV. Method
Overview of the structure with two-phase learning procedure.
Arm-Constrained Proximal Policy Optimization discussed.
Reward-Aware Curriculum Learning process introduced.
V. Experiments
Experimental setup described for simulation tests.
Real-robot tests conducted for various tasks.
VI. Conclusion
Summary of reinforcement learning framework for loco-manipulation.
Thống kê
The proposed approach demonstrates relatively high tracking accuracy in simulation.
Trích dẫn
"The emergence of legged robot platforms has provided a feasible foundation for executing complex tasks."
"Our novel framework enables dynamic grasping, enhancing object manipulation capabilities."