Fig. 5: Robustness to perturbation forces.
From: Bioinspired morphology and task curricula for learning locomotion in bipedal muscle-actuated systems
a Boxplots illustrate the maximum perturbation forces agents withstood when applied to the torso’s center of mass in the sagittal (x-direction) and coronal (z-direction) planes, as illustrated in the accompanying schematic. Data is presented for balance (0 ms-1), walking (1.2 ms-1), and running (2.4 ms-1), with five rollouts for each of the ten seeds (n = 50 per condition). The center line of each box indicates the median of the maximum perturbation forces withstood, the box limits correspond to the upper and lower quartiles, whiskers extend to 1.5 times the interquartile range, and points outside this range are considered outliers. We compare a baseline without curriculum (NonCurr), only the task curriculum (AdultCurr), the ontogenetic morphological and task curriculum (OntoCurr), and the uniform morphological and task curriculum (UniCurr). Due to substantial target velocity errors in other conditions, only OntoCurr is shown for walking and running speeds. b Schematic representation of the perturbation forces and their directions.
