Fig. 3: Ontogenetic morphological curriculum combined with task curriculum (OntoCurr) successfully learns all target velocities.
From: Bioinspired morphology and task curricula for learning locomotion in bipedal muscle-actuated systems
OntoCurr outperforms the baseline without curriculum (NonCurr) and two alternative curricula: the task curriculum (AdultCurr) and the uniform morphological and task curriculum (UniCurr). a shows a schematic representation of the different phases of the bioinspired double curriculum, combining both task and morphology curricula. b demonstrates the means and standard deviations of rewards for ten seeds for all four conditions. Dotted lines denote task transitions, while the dashed line marks the transition to the adult morphology, relevant only for UniCurr and OntoCurr. (c1-c9) illustrate the velocity errors with standard deviations represented by error bars at three transition checkpoints (2 × 106, 4 × 106, 10 × 106) and the final checkpoint (6 × 107) across ten rollouts in each of the ten seeds (n = 100) for a sample of target velocities: 0.0 ms-1 (balance), 1.2 ms-1 (walking), and 2.4 ms-1 (running). For balance, velocity errors are normalized by episode length to account for early termination. For walking and running, errors are normalized by target velocity to ensure fair comparison across musculoskeletal models.
