Upgrade to Pro — share decks privately, control downloads, hide ads and more …

世界モデルによる4脚ロボットの歩行学習

Sponsored · SiteGround - Reliable hosting with speed, security, and support you can count on.
Avatar for AGIRobots AGIRobots
March 26, 2023

 世界モデルによる4脚ロボットの歩行学習

Avatar for AGIRobots

AGIRobots

March 26, 2023
Tweet

More Decks by AGIRobots

Other Decks in Technology

Transcript

  1. ໨࣍ w ϩϘοτͷֶश w γϛϡϨʔλΛ༻͍ͨڧԽֶश w γϛϡϨʔγϣϯ؀ڥͷܽ఺ w ੈքϞσϧ w

    %SFBNFSʢ%SFBNFS7ʣ w %SFBNFS7ʹΑΔ̐٭ϩϘοτͷาߦֶश w ࢀߟจݙ 2
  2. ϩϘοτͷֶश w ϩϘοτͷֶश͸ڧԽֶश͕Ұൠత w ϩϘοτ͸༷ʑͳܗঢ়͕ߟ͑ΒΕڭࢣσʔλͷऔಘ͕ࠔ೉ w ڭࢣ͋Γֶश͸ద༻Ͱ͖ͳ͍৔߹͕ଟ͍ w ڧԽֶश͸ใुؔ਺Λ༻͍ͯग़ྗͷྑ͠ѱ͠ΛධՁ w

    ଈ࣌ใुΛকདྷʹΘͨΓՃࢉͨ͠ࢦඪ͕࠷େԽ͞ΕΔΑ͏ֶश w ׂҾใु࿨ʹΑΓকདྷͷใु΋͋Δఔ౓͸ߟྀՄೳ w ଟ͘ͷڧԽֶशΞϧΰϦζϜ͸ΦϯϥΠϯܕͰ͋ΔͨΊܧଓతͳֶश͕Մೳ w ్தͰֶशΛऴྃͤ͞ͳ͍ݶΓԆʑͱֶशΛଓ͚Δ͜ͱ͕Մೳ w ਓؒͷΑ͏ʹܧଓత͔ͭదԠతͳߦಈΛ֫ಘͰ͖ΔՄೳੑ͋Γ 3
  3. γϛϡϨʔλΛ༻͍ͨڧԽֶश w ϩϘοτͷڧԽֶश͸ҰൠతʹγϛϡϨʔλΛར༻ w ֶश଎౓ w ࣮࣌ؒͰֶश͢Δͱ͕͔͔࣌ؒΔͨΊγϛϡϨʔλΛ༻͍Δ͜ͱͰߴ଎Խ w ฒྻͰֶशΛߦ͏ͱߋͳΔߴ଎Խ͕Մೳ w

    ଱ٱੑ w ϩϘοτͷ࣮ػΛ༻͍Δͱֶशதʹނো͢ΔՄೳੑ͋Γ w γϛϡϨʔλΛ༻͍Δ͜ͱͰϩϘοτͷނোͷ໰୊Λֶश͔Β׬શʹഉআ 4 ࣮ੈք γϛϡϨʔλ γϛϡϨʔλ ࣮ੈք
  4. ʲ%BZ%SFBNFSʳ%SFBNFS7ʹΑΔ̐٭ϩϘοτͷֶश w ؍ଌɿ֤Ϟʔλͷ֯౓ɺ࢟੎ɺ֯଎౓ w ߦಈɿ֤Ϟʔλͷ֯౓ w ใुؔ਺ɿҎԼͷͭͷใु߲ͷ଍͠߹Θͤ 13 ̂ z

    z = [0,0,1] x = [1,0,0] y = [1,0,0] ̂ z ಺ੵ ͸খ͍͞ z ⋅ ̂ z ಺ੵ ͸େ͖͍ z ⋅ ̂ z ج४࢟੎ʢؔઅ֯౓ʹʣ ໨ඪาߦ࢟੎ rknee rshoulder rhip
  5. ·ͱΊ w ϩϘοτͷֶश͸ڧԽֶश͕Ұൠత w ϩϘοτͷڧԽֶशͰ͸ֶश଎౓ͷߴ଎Խͱ଱ٱੑͷ؍఺͔ΒγϛϡϨʔλΛ࢖༻ w γϛϡϨʔγϣϯ؀ڥͷ࡞੒ʹ͸ਓతίετ͕͔͔Δ͏࣮͑ੈքΛ׬શʹ࠶ݱ͢Δ͜ͱ͸ෆՄೳ w ੈքϞσϧ͸࣮؀ڥ͔ΒαϯϓϦϯάͨ͠σʔλ͔Β؀ڥμΠφϛΫεΛֶश w

    ੈքϞσϧΛ༻͍Ε͹γϛϡϨʔλ͸ෆཁ w ੈքϞσϧΛ༻͍ͨ୅දతͳڧԽֶशख๏͸%SFBNFSʢ%SFBNFS7ʣ w ٭ϩϘοτͷาߦΛੈքϞσϧΛ༻͍ͯ֫ಘͨ͠ݚڀ͸%BZ%SFBNFS w %BZ%SFBNFS͸໿࣌ؒͰ৸సΜͩঢ়ଶ͔Βาߦಈ࡞Λ֫ಘ 15
  6. ࢀߟจݙ 16 <>3JDIBSE44VUUPO *OUFHSBUFEBSDIJUFDUVSFTGPSMFBSOJOH QMBOOJOH BOESFBDUJOHCBTFE POBQQSPYJNBUJOHEZOBNJDQSPHSBNNJOH .BDIJOFMFBSOJOHQSPDFFEJOHT  <>%BWJE)B

    BOE+ÛSHFO4DINJEIVCFS 8PSME.PEFMT BS9JW  <>%BOJKBS)BGOFS 5JNPUIZ-JMMJDSBQ +JNNZ#B BOE.PIBNNBE/PSPV[J %SFBNUP$POUSPM -FBSOJOH#FIBWJPSTCZ-BUFOU*NBHJOBUJPO JO1SPD*$-3  <>%BOJKBS)BGOFS 5JNPUIZ-JMMJDSBQ .PIBNNBE/PSPV[J BOE+JNNZ#B .BTUFSJOH"UBSJ XJUI%JTDSFUF8PSME.PEFMT JO1SPD*$-3  <>1IJMJQQ8V "MFKBOESP&TDPOUSFMB %BOJKBS)BGOFS ,FO(PMECFSH BOE1JFUFS"CCFFM  %BZ%SFBNFS8PSME.PEFMTGPS1IZTJDBM3PCPU-FBSOJOH JO1SPD$P3-