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Morphological Wobbling Can Help Robots Learn | IEEE Conference Publication | IEEE Xplore

Morphological Wobbling Can Help Robots Learn


Abstract:

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 ...Show More

Abstract:

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, a high-frequency oscillation with a large amplitude for a large portion of the learning duration leads to the highest performance benefits. Furthermore, we show that morphological wobbling significantly increases exploration of the search space.
Date of Conference: 12-15 September 2022
Date Added to IEEE Xplore: 30 November 2022
ISBN Information:
Conference Location: London, United Kingdom

References

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