To Coordinate or Not to Coordinate? Learning to Swim with Eight Soft Arms
Overview
This research investigates whether explicit coordination between multiple soft arms is necessary for effective swimming.
Generated from attributed reports · Updated 2 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · episodes: 200 other · reported trials · Differing source assertions
“orcement learning-based control strategies using proximal policy optimization (PPO): (1) learning arm-specific actuation amplitudes without inter-arm phase coupling, (2) learning actuation amplitudes with prescribed inter-arm phase coupling, and (3) directly learning actuator commands through end-to-end PPO without an explicit rhythmic structure. Across 200 episodes with randomized three-dimensional velocity commands”
Exact source · revision 1Source owner not reported
Reported quantity · episodes: 169 other · reported trials · Differing source assertions
“, the controller without phase coupling satisfies the tracking criterion in 169 episodes, compared with 117 for the phase-coupled controller and 28 for end-to-end PPO. Straight-line swimming and commanded direction-change trials further demonstrate more accurate velocity tracking without phase coupling. These findings suggest that effective eight-arm swimming does not require prescribed inter-arm phase coupling, but”
Exact source · revision 1Source owner not reported
Reported quantity · episodes: 117 other · reported trials · Differing source assertions
“, the controller without phase coupling satisfies the tracking criterion in 169 episodes, compared with 117 for the phase-coupled controller and 28 for end-to-end PPO. Straight-line swimming and commanded direction-change trials further demonstrate more accurate velocity tracking without phase coupling. These findings suggest that effective eight-arm swimming does not require prescribed inter-arm phase coupling, but”
Exact source · revision 1Source owner not reported
Reported quantity · episodes: 28 other · reported trials · Differing source assertions
“, the controller without phase coupling satisfies the tracking criterion in 169 episodes, compared with 117 for the phase-coupled controller and 28 for end-to-end PPO. Straight-line swimming and commanded direction-change trials further demonstrate more accurate velocity tracking without phase coupling. These findings suggest that effective eight-arm swimming does not require prescribed inter-arm phase coupling, but”
Exact source · revision 1Source owner not reported
Reported quantity · robots: 1 other · Basis not reported
“orcement learning-based control strategies using proximal policy optimization (PPO): (1) learning arm-specific actuation amplitudes without inter-arm phase coupling, (2) learning actuation amplitudes with prescribed inter-arm phase coupling, and (3) directly learning actuator commands through end-to-end PPO without an explicit rhythmic structure. Across 200 episodes with randomized three-dimensional velocity commands”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalTo Coordinate or Not to Coordinate? Learning to Swim with Eight Soft Arms
This research investigates whether explicit coordination between multiple soft arms is necessary for effective swimming.
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