Knowledge Commons of Institute of Automation,CAS
Autonomous Skill Learning of Water Polo Ball Heading for a Robotic Fish: Curriculum and Verification | |
Zhang Tiandong1,2![]() ![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Cognitive and Developmental Systems
![]() |
2023 | |
卷号 | 15期号:2页码:865 - 876 |
摘要 | This article concerns the autonomous skill learning of water polo ball heading for a robotic fish in highly dynamic aquatic environments via multistage serial-parallel curriculum learning (MSPCL). First, a radio-controlled robotic fish with hybrid fin propulsion is presented. Moreover, the water polo ball heading task is decomposed into two sequential subtasks: 1) preparation and 2) shooting. In order to cope with the multistage complex tasks, based on the easy-to-hard curriculum learning strategy, a novel MSPCL framework is proposed for the robotic fish to learn complex skills, which mainly includes curriculum scheduler, difficulty criterion, serial-parallel curriculum generation, and performance measure modules. Furthermore, under the MSPCL framework, soft actor–critic (SAC) algorithm is utilized for training the policy network. Therefore, the robotic fish can learn how to head the water polo ball via the proposed MSPCL method. Comparative simulations are carried out to verify the effectiveness of the MSPCL framework. Finally, the proposed MSPCL method is applied to a physical robotic fish named RoboDact. Swimming pool experiments of water polo ball heading of the RoboDact are conducted to demonstrate the validity and robustness of the proposed method. |
DOI | 10.1109/TCDS.2022.3189095 |
URL | 查看原文 |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:001005746000048 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51980 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Wang Rui |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences 3.Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences 4.Inria Lille--Nord Europe, Villeneuve-d’Ascq, France Center de Recherche en Informatique Signal et Automatique de Lille |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhang Tiandong,Wang Rui,Wang Shuo,et al. Autonomous Skill Learning of Water Polo Ball Heading for a Robotic Fish: Curriculum and Verification[J]. IEEE Transactions on Cognitive and Developmental Systems,2023,15(2):865 - 876. |
APA | Zhang Tiandong.,Wang Rui.,Wang Shuo.,Wang Yu.,Cheng Long.,...&Tan Min.(2023).Autonomous Skill Learning of Water Polo Ball Heading for a Robotic Fish: Curriculum and Verification.IEEE Transactions on Cognitive and Developmental Systems,15(2),865 - 876. |
MLA | Zhang Tiandong,et al."Autonomous Skill Learning of Water Polo Ball Heading for a Robotic Fish: Curriculum and Verification".IEEE Transactions on Cognitive and Developmental Systems 15.2(2023):865 - 876. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Autonomous_Skill_Lea(3052KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论