Robust Humanoid Robot Vehicle Ingress with A Finite State Machine Integrated with Deep Reinforcement Learning
Chenzheng Wang,
Xuechao Chen,
Zhangguo Yu
et al.
Abstract:Ingress task is crucial in a humanoid robot's attempt to drive a land vehicle and reach its destination fast. Previous work is inefficient in granting robots the ability to enter a vehicle from random starting position and orientation or withstand elasticity in vehicles, which are both hard to model. Deep Reinforcement Learning (DRL) could be introduced to address these issues. Previous applications of DRL in humanoid control tend to use consistent reward terms for the whole control process, which is not suita… Show more
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