> All the bad-ass biped robots that actually look natural? It's PID controls wrapped with control barrier functions constraining the QPs that are being solved in real time.
replyThat's not entirely true. Locomotion is well addressed by RL in sim. It's true that there is still a PD layer, and the RL policy produces setpoints for it.
> So we'll need neural methods which can be learned
replyData is a problem. LLMs had the advantage of the whole internet to train on. Robots don’t have that corpus of information. And real time learning seems to be something that everyone in AI is studiously ignoring.
The hope is that RL in simulation can fill the gap.
replyAlso there’s imitating humans, via a suitable mapping from the human sensor, control and configuration space to the robot’s. Some groups have gathered video and other data from humans doing tasks, for example with a VR headset.
I don’t think the complexity scales with every additional degree of freedom like you are painting here. I think it’s just a matter of getting the right training data in sufficient quantities for an LLM to output across all degrees of freedom simultaneously without it being some exponential leap.
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