Fig. 1: Bioinspired double curriculum approach for efficiently learning robust standing, walking, and running.
From: Bioinspired morphology and task curricula for learning locomotion in bipedal muscle-actuated systems
a Humans acquire versatile motor control through Reinforcement Learning (RL), using trial and error to optimize actions based on rewards, while simultaneously undergoing morphological and motor skill development. b Drawing from human development, our bioinspired double curriculum approach tackles RL exploration challenges in musculoskeletal models by integrating two curricula: a morphological curriculum based on growing body morphologies and a task curriculum, progressing from standing to walking and eventually running.
