Science Robotics最新文献_第9页

An agile monopedal hopping quadcopter with synergistic hybrid locomotion 具有协同混合动力的敏捷单足跳四旋翼飞行器

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-04-10 DOI: 10.1126/scirobotics.adi8912

Songnan Bai, Qiqi Pan, Runze Ding, Huaiyuan Jia, Zhengbao Yang, Pakpong Chirarattananon

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引用次数: 0

Learning agile soccer skills for a bipedal robot with deep reinforcement learning 利用深度强化学习为双足机器人学习敏捷足球技能

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-04-10 DOI: 10.1126/scirobotics.adi8022

Tuomas Haarnoja, Ben Moran, Guy Lever, Sandy H. Huang, Dhruva Tirumala, Jan Humplik, Markus Wulfmeier, Saran Tunyasuvunakool, Noah Y. Siegel, Roland Hafner, Michael Bloesch, Kristian Hartikainen, Arunkumar Byravan, Leonard Hasenclever, Yuval Tassa, Fereshteh Sadeghi, Nathan Batchelor, Federico Casarini, Stefano Saliceti, Charles Game, Neil Sreendra, Kushal Patel, Marlon Gwira, Andrea Huber, Nicole Hurley, Francesco Nori, Raia Hadsell, Nicolas Heess

{"title":"Learning agile soccer skills for a bipedal robot with deep reinforcement learning","authors":"Tuomas Haarnoja, Ben Moran, Guy Lever, Sandy H. Huang, Dhruva Tirumala, Jan Humplik, Markus Wulfmeier, Saran Tunyasuvunakool, Noah Y. Siegel, Roland Hafner, Michael Bloesch, Kristian Hartikainen, Arunkumar Byravan, Leonard Hasenclever, Yuval Tassa, Fereshteh Sadeghi, Nathan Batchelor, Federico Casarini, Stefano Saliceti, Charles Game, Neil Sreendra, Kushal Patel, Marlon Gwira, Andrea Huber, Nicole Hurley, Francesco Nori, Raia Hadsell, Nicolas Heess","doi":"10.1126/scirobotics.adi8022","DOIUrl":"https://doi.org/10.1126/scirobotics.adi8022","url":null,"abstract":"We investigated whether deep reinforcement learning (deep RL) is able to synthesize sophisticated and safe movement skills for a low-cost, miniature humanoid robot that can be composed into complex behavioral strategies. We used deep RL to train a humanoid robot to play a simplified one-versus-one soccer game. The resulting agent exhibits robust and dynamic movement skills, such as rapid fall recovery, walking, turning, and kicking, and it transitions between them in a smooth and efficient manner. It also learned to anticipate ball movements and block opponent shots. The agent’s tactical behavior adapts to specific game contexts in a way that would be impractical to manually design. Our agent was trained in simulation and transferred to real robots zero-shot. A combination of sufficiently high-frequency control, targeted dynamics randomization, and perturbations during training enabled good-quality transfer. In experiments, the agent walked 181% faster, turned 302% faster, took 63% less time to get up, and kicked a ball 34% faster than a scripted baseline.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140545009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Restoration of motor function using magnetoelectric metamaterials 利用磁电超材料恢复运动功能

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-27 DOI: 10.1126/scirobotics.adp3707

Amos Matsiko

引用次数: 0

Teaching robots the art of human social synchrony 教机器人学习人类社会同步的艺术

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-27 DOI: 10.1126/scirobotics.ado5755

Rachael E. Jack

引用次数: 0

A fictional history of robotics features forgotten real-world robots 一部虚构的机器人历史，讲述了被遗忘的现实世界中的机器人。

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-27 DOI: 10.1126/scirobotics.ado7982

Robin R. Murphy

引用次数: 0

Human-robot facial coexpression 人类与机器人的面部共表情。

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-27 DOI: 10.1126/scirobotics.adi4724

Yuhang Hu, Boyuan Chen, Jiong Lin, Yunzhe Wang, Yingke Wang, Cameron Mehlman, Hod Lipson

{"title":"Human-robot facial coexpression","authors":"Yuhang Hu, Boyuan Chen, Jiong Lin, Yunzhe Wang, Yingke Wang, Cameron Mehlman, Hod Lipson","doi":"10.1126/scirobotics.adi4724","DOIUrl":"10.1126/scirobotics.adi4724","url":null,"abstract":"<div >Large language models are enabling rapid progress in robotic verbal communication, but nonverbal communication is not keeping pace. Physical humanoid robots struggle to express and communicate using facial movement, relying primarily on voice. The challenge is twofold: First, the actuation of an expressively versatile robotic face is mechanically challenging. A second challenge is knowing what expression to generate so that the robot appears natural, timely, and genuine. Here, we propose that both barriers can be alleviated by training a robot to anticipate future facial expressions and execute them simultaneously with a human. Whereas delayed facial mimicry looks disingenuous, facial coexpression feels more genuine because it requires correct inference of the human’s emotional state for timely execution. We found that a robot can learn to predict a forthcoming smile about 839 milliseconds before the human smiles and, using a learned inverse kinematic facial self-model, coexpress the smile simultaneously with the human. We demonstrated this ability using a robot face comprising 26 degrees of freedom. We believe that the ability to coexpress simultaneous facial expressions could improve human-robot interaction.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adi4724","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140308016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human-robot facial coexpression 人类与机器人的面部表情

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-27 DOI: https://www.science.org/doi/10.1126/scirobotics.adi4724

Yuhang Hu, Boyuan Chen, Jiong Lin, Yunzhe Wang, Yingke Wang, Cameron Mehlman, Hod Lipson

{"title":"Human-robot facial coexpression","authors":"Yuhang Hu, Boyuan Chen, Jiong Lin, Yunzhe Wang, Yingke Wang, Cameron Mehlman, Hod Lipson","doi":"https://www.science.org/doi/10.1126/scirobotics.adi4724","DOIUrl":"https://doi.org/https://www.science.org/doi/10.1126/scirobotics.adi4724","url":null,"abstract":"Large language models are enabling rapid progress in robotic verbal communication, but nonverbal communication is not keeping pace. Physical humanoid robots struggle to express and communicate using facial movement, relying primarily on voice. The challenge is twofold: First, the actuation of an expressively versatile robotic face is mechanically challenging. A second challenge is knowing what expression to generate so that the robot appears natural, timely, and genuine. Here, we propose that both barriers can be alleviated by training a robot to anticipate future facial expressions and execute them simultaneously with a human. Whereas delayed facial mimicry looks disingenuous, facial coexpression feels more genuine because it requires correct inference of the human’s emotional state for timely execution. We found that a robot can learn to predict a forthcoming smile about 839 milliseconds before the human smiles and, using a learned inverse kinematic facial self-model, coexpress the smile simultaneously with the human. We demonstrated this ability using a robot face comprising 26 degrees of freedom. We believe that the ability to coexpress simultaneous facial expressions could improve human-robot interaction.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140329178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Estimating human joint moments unifies exoskeleton control, reducing user effort 估算人体关节力矩可统一外骨骼控制，减少使用者的工作量。

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-20 DOI: 10.1126/scirobotics.adi8852

Dean D. Molinaro, Inseung Kang, Aaron J. Young

引用次数: 0

Estimating human joint moments unifies exoskeleton control, reducing user effort 估算人体关节力矩统一外骨骼控制，减少使用者的工作量

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-20 DOI: https://www.science.org/doi/10.1126/scirobotics.adi8852

Dean D. Molinaro, Inseung Kang, Aaron J. Young

引用次数: 0

Elastic energy-recycling actuators for efficient robots 用于高效机器人的弹性能量回收执行器

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-03-20 DOI: 10.1126/scirobotics.adj7246

Erez Krimsky, Steven H. Collins

引用次数: 0