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世界モデルによる4脚ロボットの歩行学習
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AGIRobots
March 26, 2023
Technology
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世界モデルによる4脚ロボットの歩行学習
AGIRobots
March 26, 2023
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Transcript
ੈքϞσϧΛ༻͍ͨ ٭ϩϘοτͷาߦֶश ʲୈճʳ٭ϩϘοτษڧձ
࣍ w ϩϘοτͷֶश w γϛϡϨʔλΛ༻͍ͨڧԽֶश w γϛϡϨʔγϣϯڥͷܽ w ੈքϞσϧ w
%SFBNFSʢ%SFBNFS7ʣ w %SFBNFS7ʹΑΔ̐٭ϩϘοτͷาߦֶश w ࢀߟจݙ 2
ϩϘοτͷֶश w ϩϘοτͷֶशڧԽֶश͕Ұൠత w ϩϘοτ༷ʑͳܗঢ়͕ߟ͑ΒΕڭࢣσʔλͷऔಘ͕ࠔ w ڭࢣ͋Γֶशద༻Ͱ͖ͳ͍߹͕ଟ͍ w ڧԽֶशใुؔΛ༻͍ͯग़ྗͷྑ͠ѱ͠ΛධՁ w
ଈ࣌ใुΛকདྷʹΘͨΓՃࢉͨ͠ࢦඪ͕࠷େԽ͞ΕΔΑ͏ֶश w ׂҾใुʹΑΓকདྷͷใु͋ΔఔߟྀՄೳ w ଟ͘ͷڧԽֶशΞϧΰϦζϜΦϯϥΠϯܕͰ͋ΔͨΊܧଓతͳֶश͕Մೳ w ్தͰֶशΛऴྃͤ͞ͳ͍ݶΓԆʑͱֶशΛଓ͚Δ͜ͱ͕Մೳ w ਓؒͷΑ͏ʹܧଓత͔ͭదԠతͳߦಈΛ֫ಘͰ͖ΔՄೳੑ͋Γ 3
γϛϡϨʔλΛ༻͍ͨڧԽֶश w ϩϘοτͷڧԽֶशҰൠతʹγϛϡϨʔλΛར༻ w ֶश w ࣮࣌ؒͰֶश͢Δͱ͕͔͔࣌ؒΔͨΊγϛϡϨʔλΛ༻͍Δ͜ͱͰߴԽ w ฒྻͰֶशΛߦ͏ͱߋͳΔߴԽ͕Մೳ w
ٱੑ w ϩϘοτͷ࣮ػΛ༻͍Δͱֶशதʹނো͢ΔՄೳੑ͋Γ w γϛϡϨʔλΛ༻͍Δ͜ͱͰϩϘοτͷނোͷΛֶश͔Βશʹഉআ 4 ࣮ੈք γϛϡϨʔλ γϛϡϨʔλ ࣮ੈք
γϛϡϨʔλΛ༻͍ͨڧԽֶश w γϛϡϨʔγϣϯڥΛίϯϐϡʔλ্ʹ࡞ͯ͠ϩϘοτͷڧԽֶशΛߦ͏͜ͱ͕Ұൠత w γϛϡϨʔλΛ༻͍Δ͜ͱͰϩϘοτͷٱੑΛؾʹ͢Δ͜ͱͳ͘ߴʹڧԽֶश͕Մೳ 5
γϛϡϨʔγϣϯڥͷܽ w γϛϡϨʔγϣϯڥਓखͰ࡞ w ࣮ੈքΛߴਫ਼ʹ࠶ݱ͢Δ͜ͱෆՄೳʢϦΞϦςΟΪϟοϓʣ 6 ࣮ੈք γϛϡϨʔγϣϯڥ 㱠
γϛϡϨʔγϣϯڥͷܽ w ࣮ੈքͱγϛϡϨʔγϣϯڥ͕ ॏͳΔ෦Λ૿͢ඞཁ͋Γ 7 ࣮ੈք γϛϡϨʔγϣϯڥ ࣮ੈք γϛϡϨʔγϣϯڥ 4JN3FBM
ੈքϞσϧ w ࣮ੈք͔ΒαϯϓϦϯάͨ͠σʔλΛ༻͍࣮ͯڥΛϞσϧԽͰ͖ΕγϛϡϨʔγϣϯڥͷ ࡞ͷखؒল͚ɺΑΓਖ਼֬ʹ࣮ڥΛ࠶ݱͰ͖ΔՄೳੑ͋ΓʢʹੈքϞσϧ< >ʣ 8 ࣮ੈք χϡʔϥϧωοτϫʔΫ
ੈքϞσϧ w ϞσϧϕʔεڧԽֶश w ํࡦϞσϧͱੈքϞσϧΛަޓʹֶश 9
%SFBNFS w ੈքϞσϧΛ༻͍ͨදతͳڧԽֶशख๏ 10 <>ΑΓҾ༻
%SFBNFS7 w %SFBNFSΑΓਫ਼͕ߴ͍ख๏ 11 <>ΑΓҾ༻
ʲ%BZ%SFBNFSʳ%SFBNFS7ʹΑΔ̐٭ϩϘοτͷֶश w %BZ%SFBNFS w ৸సΜͩঢ়ଶ͔Β࢝Ί࣌ؒͰาߦΛ֫ಘ w 4"$ͷ߹Ͱ࣌ؒͰ֫ಘͰ͖ͨͷ৸ฦΓͷΈ w ԣ͔ΒྗΛՃ͑ͯసͤͨͱ͖ͷ෮ؼఔͷՃֶशͰ֫ಘՄೳ 12
<>ΑΓҾ༻ <>ΑΓҾ༻ <>ΑΓҾ༻
ʲ%BZ%SFBNFSʳ%SFBNFS7ʹΑΔ̐٭ϩϘοτͷֶश w ؍ଌɿ֤Ϟʔλͷ֯ɺ࢟ɺ֯ w ߦಈɿ֤Ϟʔλͷ֯ w ใुؔɿҎԼͷͭͷใु߲ͷ͠߹Θͤ 13 ̂ z
z = [0,0,1] x = [1,0,0] y = [1,0,0] ̂ z ੵ খ͍͞ z ⋅ ̂ z ੵ େ͖͍ z ⋅ ̂ z ج४࢟ʢؔઅ֯ʹʣ ඪาߦ࢟ rknee rshoulder rhip
ʲ%BZ%SFBNFSʳ%SFBNFS7ʹΑΔ̐٭ϩϘοτͷֶश w ؍ଌɿ֤Ϟʔλͷ֯ɺ࢟ɺ֯ w ߦಈɿ֤Ϟʔλͷ֯ w ใुؔɿҎԼͷͭͷใु߲ͷ͠߹Θͤ 14 ମΛาߦʹదͳ͖ʢ໘ͱਫฏʣ ʹ͢Δ͜ͱΛֶशͤ͞Δ
લਐาߦͷಈ࡞Λֶशͤ͞Δ าߦʹదͨ͠٭ͷؔઅ֯Λֶशͤ͞Δ
·ͱΊ w ϩϘοτͷֶशڧԽֶश͕Ұൠత w ϩϘοτͷڧԽֶशͰֶशͷߴԽͱٱੑͷ؍͔ΒγϛϡϨʔλΛ༻ w γϛϡϨʔγϣϯڥͷ࡞ʹਓతίετ͕͔͔Δ͏࣮͑ੈքΛશʹ࠶ݱ͢Δ͜ͱෆՄೳ w ੈքϞσϧ࣮ڥ͔ΒαϯϓϦϯάͨ͠σʔλ͔ΒڥμΠφϛΫεΛֶश w
ੈքϞσϧΛ༻͍ΕγϛϡϨʔλෆཁ w ੈքϞσϧΛ༻͍ͨදతͳڧԽֶशख๏%SFBNFSʢ%SFBNFS7ʣ w ٭ϩϘοτͷาߦΛੈքϞσϧΛ༻͍ͯ֫ಘͨ͠ݚڀ%BZ%SFBNFS w %BZ%SFBNFS࣌ؒͰ৸సΜͩঢ়ଶ͔Βาߦಈ࡞Λ֫ಘ 15
ࢀߟจݙ 16 <>3JDIBSE44VUUPO *OUFHSBUFEBSDIJUFDUVSFTGPSMFBSOJOH QMBOOJOH BOESFBDUJOHCBTFE POBQQSPYJNBUJOHEZOBNJDQSPHSBNNJOH .BDIJOFMFBSOJOHQSPDFFEJOHT <>%BWJE)B
BOE+ÛSHFO4DINJEIVCFS 8PSME.PEFMT BS9JW <>%BOJKBS)BGOFS 5JNPUIZ-JMMJDSBQ +JNNZ#B BOE.PIBNNBE/PSPV[J %SFBNUP$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-