Morphological Wobbling Can Help Robots Learn. (arXiv:2205.02811v1 [cs.LG])

Web: http://arxiv.org/abs/2205.02811

We propose to make the physical characteristics of a robot oscillate while it
learns to improve its behavioral performance. We consider quantities such as
mass, actuator strength, and size that are usually fixed in a robot, and show
that when those quantities oscillate at the beginning of the learning process
on a simulated 2D soft robot, the performance on a locomotion task can be
significantly improved. We investigate the dynamics of the phenomenon and
conclude that in our case, surprisingly, …

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