Abstract
Designing controllers for complex robots such as humanoids is not an easy task. Often, researchers hand-tune controllers, but this is a time-consuming approach that yields a single controller which cannot generalize well to varied tasks. This work presents a method which uses the NSGA-II multi-objective optimization algorithm with various training trajectories to output a diverse Pareto set of well-functioning controller weights and gains. The best of these are shown to also work well on the real Talos robot. The learned Pareto front is then used in a Bayesian optimization (BO) algorithm both as a search space and as a source of prior information in the initial mean estimate. This combined learning approach, leveraging the two optimization methods together, finds a suitable parameter set for a new trajectory within 20 trials and outperforms both BO in the continuous parameter search space and random search along the precomputed Pareto front. The few trials required for this formulation of BO suggest that it could feasibly be applied on the physical robot using a Pareto front generated in simulation.
Original language | English |
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Title of host publication | Proceedings 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Publisher | IEEE |
Pages | 12935-12941 |
ISBN (Print) | 978-1-6654-7927-1 |
DOIs | |
Publication status | Published - 2022 |
Event | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022): IROS 2022 - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 |
Conference
Conference | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) |
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Abbreviated title | IROS 2022 |
Country/Territory | Japan |
City | Kyoto |
Period | 23/10/22 → 27/10/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.