Jingwen Li, Levin Kuhlmann, Jason Friedman, Gideon Kowadlo
原文摘要
Bimanual robotic control requires simultaneous management of distinct functional demands under motor noise, energetic costs, and communication delays. We investigate how learning responsibility should be organised across modular controllers and the two arms in a simulated musculoskeletal system with two communicating recurrent controllers. Using a 2 x 2 design, we compare differential versus shared controller objectives and fixed versus balanced hand-task assignments. Task-aligned functional specialisation was strongest when differential objectives were combined with a fixed assignment aligned with contralateral control routing. This condition achieved the highest canonical-task performance and control efficiency, reaching 81.33% bimanual success. Its advantage over shared objectives increased with motor noise but narrowed under stronger energy penalties. Stronger specialisation also reduced hand-role flexibility: reversing the hand roles decreased bimanual success by 80.46 percentage points under Differential-Fixed training, compared with 1.51 percentage points under Shared-Balanced training. These results show that controller objectives and hand-task experience jointly determine functional organisation. Stronger role-specific specialisation favours performance and efficiency when roles remain stable, whereas more distributed training favours interchangeability when roles change.
There is a fundamental contradiction between the desire for models that can generalize, and models that can continuously adapt to recent input with changing statistics. These conditions, captured in few-shot and continual learning settings, can bias or disrupt learned representations. This harms generalization to a broader context, leaving the model unable to overcome input variance. This paper proposes a solution based on the Complementary Learning System architecture (CLS), in which a Short-Term Memory (STM) delegates generalization to a slow, statistical Long-Term Memory (LTM). Delegation is achieved by working in a space of robust, generalized perceptions produced by the LTM. With this separation, the STM can focus on memorizing recent input and avoiding interference between memories. We show that on an image classification task, the resulting CLS model is more resistant to forgetting in a domain-incremental continual learning setting than a baseline ResNet LTM, and generalizes more effectively in a few-shot setting than other continual learners. In the continual setting, overall accuracy is slightly worse than existing continual learning models, but with a different mix of performance characteristics. Results analysis suggests that the model is limited by the representations and representational plasticity of the LTM. In future work, we will seek to address this by replaying STM memories to the LTM.