Reinforcement Learning with Adaptive Curriculum Dynamics Randomization for Fault-Tolerant Robot Control

11/19/2021
by   Wataru Okamoto, et al.
6

This study is aimed at addressing the problem of fault tolerance of quadruped robots to actuator failure, which is critical for robots operating in remote or extreme environments. In particular, an adaptive curriculum reinforcement learning algorithm with dynamics randomization (ACDR) is established. The ACDR algorithm can adaptively train a quadruped robot in random actuator failure conditions and formulate a single robust policy for fault-tolerant robot control. It is noted that the hard2easy curriculum is more effective than the easy2hard curriculum for quadruped robot locomotion. The ACDR algorithm can be used to build a robot system that does not require additional modules for detecting actuator failures and switching policies. Experimental results show that the ACDR algorithm outperforms conventional algorithms in terms of the average reward and walking distance.

READ FULL TEXT

page 2

page 5

page 6

page 7

research
10/02/2022

Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning

Quadruped locomotion now has acquired the skill to traverse or even spri...
research
06/01/2021

DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning

Bipedal walking is one of the most difficult but exciting challenges in ...
research
08/10/2020

Fault-Tolerant Control of Degrading Systems with On-Policy Reinforcement Learning

We propose a novel adaptive reinforcement learning control approach for ...
research
11/04/2020

Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion

Understanding the gap between simulation andreality is critical for rein...
research
10/02/2019

ROS Rescue : Fault Tolerance System for Robot Operating System

In this chapter we discuss the problem of master failure in ROS1.0 and i...
research
09/17/2021

Robust-by-Design Plans for Multi-Robot Pursuit-Evasion

This paper studies a multi-robot visibility-based pursuit-evasion proble...
research
05/09/2020

ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills

Humans are highly adept at walking in environments with foot placement c...

Please sign up or login with your details

Forgot password? Click here to reset