A diffusion-based body schema learning method enables a simulated musculoskeletal robot to adapt to muscle rupture and actuator jamming without retraining, outperforming autoencoder and variational autoencoder baselines.
ECCE1: the first of a series of anthropomimetic musculoskeletal upper torsos,
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Diffusion-Based Body Schema Learning Enabling Abnormal-State Adaptation in Musculoskeletal Robots
A diffusion-based body schema learning method enables a simulated musculoskeletal robot to adapt to muscle rupture and actuator jamming without retraining, outperforming autoencoder and variational autoencoder baselines.