In recent years, many research teams worldwide have been developing and evaluating techniques to enable different locomotion styles in legged robots. One way of training robots to walk like humans or animals is by having them analyze and emulate real-world demonstrations. This approach is known as imitation learning.
Researchers at the University of Edinburgh in Scotland have recently devised a framework for training humanoid robots to walk like humans using human demonstrations. This new framework, presented in a paper pre-published on arXiv, combines imitation learning and deep reinforcement learning techniques with theories of robotic control, in order to achieve natural and dynamic locomotion in humanoid robots.
“The key question we set out to investigate was how to incorporate useful human knowledge in robot locomotion and human motion capture data for imitation into deep reinforcement learning paradigm to advance the autonomous capabilities of legged robots more efficiently,” Chuanyu Yang, one of the researchers who carried out the study, told TechXplore. We proposed two methods of introducing human prior knowledge into a DRL framework.”
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