Morphological Wobbling Can Help Robots Learn

• URL: http://arxiv.org/abs/2205.02811v1
• Date: Thu, 5 May 2022 17:41:58 GMT
• Title: Morphological Wobbling Can Help Robots Learn
• Authors: Fabien C. Y. Benureau and Jun Tani
• Abstract summary: We consider quantities such as mass, actuator strength, and size that are usually fixed in a robot. We show that when those quantities oscillate at the beginning of the learning process on a simulated 2D soft robot, the performance on a task can be significantly improved.
• Score: 5.000272778136268
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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