{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/morphological-wobbling-can-help-robots-learn","title":"Morphological Wobbling Can Help Robots Learn","arxiv_id":"2205.02811","date":"2022-05-05","proceeding":null,"authors":["Fabien C. Y. Benureau","Jun Tani"],"abstract":"We propose to make the physical characteristics of a robot oscillate while it learns to improve its behavioral performance. We consider quantities such as mass, actuator strength, and size that are usually fixed in a robot, and show that when those quantities oscillate at the beginning of the learning process on a simulated 2D soft robot, the performance on a locomotion task can be significantly improved. We investigate the dynamics of the phenomenon and conclude that in our case, surprisingly, a high-frequency oscillation with a large amplitude for a large portion of the learning duration leads to the highest performance benefits. Furthermore, we show that morphological wobbling significantly increases exploration of the search space.","url_abs":"https://arxiv.org/abs/2205.02811v1","url_pdf":"https://arxiv.org/pdf/2205.02811v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"morphological-wobbling-can-help-robots-learn","repo_url":"https://zenodo.org/record/6513360","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}