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遺伝的アルゴリズムで二足歩行の学習。Bipedal locomotion by genetic algorithm
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遺伝的アルゴリズムで二足歩行の学習。Bipedal locomotion by genetic algorithm

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Description:

The person type robot was made from the physics engine.
The robot learned bipedal locomotion.
The genetic algorithm was used.

Gene: The angle of each joint.Five operations (0 (preparation), 1, 2, 3, 4).
Operation: 0,1,2,3,4. As for 0, only the beginning is.1 to 4 is repeated.Operation is symmetrical on the left and the right.
Evaluation: Distance which advanced
Selection: Five high things of evaluation.
Intersection: Two bodies are chosen from five bodies with high evaluation at random, and a gene is mixed.
Mutation: A random value (angle) is added to a gene.

In almost all cases, mutation is change for the worse.
It exceeds parents' capability rarely.

物理エンジンで人型のロボットを作った。
遺伝的アルゴリズムで二足歩行の学習をさせた。

遺伝子:各関節の角度。5つの動作分(0(初動),1,2,3,4)。
動作:0⇒1⇒2⇒3⇒4⇒1⇒・・・。0は最初だけ。1から4を繰り返す。2動作ずらして左右対称。
評価:倒れるまでに前進した距離。
選択:評価の高いものから5体。
交叉:評価の高い5体からランダムに2体選んで遺伝子を混ぜる。
突然変異:遺伝子1個~2個に対してランダムな値(角度)を足す。

突然変異は、ほとんどの場合、改悪である(奇形児)。
が、まれに親の能力を上回る。

ニコニコ動画版
http://www.nicovideo.jp/watch/sm16597051

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Tags: munimuni, むにむに, むにむに教授, むにむに公園, 物理エンジン, 物理演算, 機械学習, 遺伝的アルゴリズム, genetic algorithm, GA, 2足歩行

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