MUTUM-MUTUMI YANA JAN RICKSHAW

Ana sa ran mutum-mutumi masu siffar ɗan Adam (humanoid robots) za su riƙa jigilar mutane, kayan aiki da kayayyaki a wuraren da aka gina don mutane. Ɗaukar kaya a hannunsu aiki ne mai wahala: yana takura gaɓoɓi, tsarin jiki da daidaito. Akwai wata hanya, mai tsufa kamar amalanke: jan shi a kan ƙafafu. Ƙafafun ne ke ɗaukar yawancin nauyin, kuma mutum-mutumin yana buƙatar bayar da turawa da tuƙi ne kawai. A ka’ida, mutum-mutumi zai iya motsa kaya da suka fi shi nauyi nesa ba kusa ba.

Yangzhi Yang, Xiaobin Xiong da abokan aikinsu a Legged AI Lab na Shanghai Innovation Institute sun zaɓi wani gwaji mai ɗaukar hankali: mutum-mutumi mai siffar ɗan Adam yana jan rickshaw (keken jaka na hannu).

Keken da aka gina daidai da girmansa

Mutum-mutumin shi ne Unitree G1, mai gaɓoɓi 29 masu injina a ƙafafunsa, kugunsa da hannayensa, da masu kamawa biyu da aka sanya musu ƙarshen aluminum na musamman. Rickshaw na kasuwa sun fi shi girma, don haka ƙungiyar ta gina ɗaya daga ƙafafun keke, kujerar tsere mai zurfi da bututun aluminum. Babu komai a ciki, nauyinsa kilogram 22.8 ne.

Wahalar ita ce ƙarfin da ke ratsawa ta hannayen keken ya dogara da komai a lokaci guda: nauyin kayan da inda yake zaune, yadda ƙafafun ke birgima a ƙasa, yadda mutum-mutumin ke tsaye idan aka kwatanta da keken. Kuma dole mutum-mutumin ya tashi, ya yi tafiya, ya juya ya kuma tsaya ba tare da auna ko ɗaya daga cikin waɗannan kai tsaye ba. Abin da jikinsa ke ji kawai yake sani — kusurwoyin gaɓoɓi, saurin gaɓoɓi, karkatar gangar jikinsa.

Malami mai ganin komai, ɗalibi mai hasashe

An horar da mai sarrafawa ta hanyar koyo ta ƙarfafawa (reinforcement learning), a cikin na’urar kwaikwayon kimiyyar lissafi, a matakai uku:

1. Ana horar da “malami” da damar musamman ta ganin duk abin da na’urar kwaikwayo ta sani: nauyin keken da cibiyar nauyinsa, juriyar birgima, gogayyar ƙasa, gangara, ƙarfin da ke kan kowane mai kamawa.
2. “Ɗalibi” yana ganin tarihin na’urorin jin jikin mutum-mutumin kawai a cikin matakan lokaci 61 na ƙarshe. Yana koyon kwaikwayon ayyukan malamin da kuma hasashe, daga yadda jikinsa ke mayar da martani, taƙaitaccen bayanin malamin kan halin da ake ciki.
3. Daga nan ana ƙara gyara ɗalibin shi kaɗai.

Horon ya gudanar da mutum-mutumi 8,192 na kwaikwayo a lokaci guda a kan na’urorin sarrafa hoto (GPUs) biyu na kusan awa 11, tare da canza nauyin keke, gogayya, gangara da tura-tura na bazata.

Abin da ɗalibin ya koya

A cikin kwaikwayo, ɗalibin yana bin saurin da aka umarta kusan kamar malamin. Tunawa yana da muhimmanci: idan aka kwatanta da mai sarrafawa da ke ganin lokacin yanzu kawai, amfani da tarihi yana rage kurakuran sauri da kashi 23. Hannaye ma suna da muhimmanci: daskarar da su yana sa kurakuran sauri su ƙaru da kashi 52. Kuma mai sarrafawar yana ci gaba da aiki da kaya har zuwa kilogram 120, nesa da iyakar kilogram 60 da aka horar da shi a kai.

Sai gwajin gaske. Mai sarrafawa guda ɗaya, wanda ba a taɓa sake daidaitawa ba, ya ja wani G1 na biyu zaune a kujerar (kilogram 60 gabaɗaya), sannan fasinja ɗan Adam (kilogram 90), sannan wani mafi nauyi: kilogram 115, kusan ninki 3.15 na nauyin mutum-mutumin kansa. A mita 1, 1.5 da 2 a daƙiƙa, rickshaw ɗin ya tashi, ya riƙe saurinsa ya kuma tsaya kowane lokaci. Takardar ta kuma nuna tafiye-tafiye a mita 2.6 a daƙiƙa da kayan kilogram 115, da kuma a mita 3.8 a daƙiƙa da kaya mai sauƙi na kilogram 42 bayan ƙarin gyara.

Ya fi tafiya sauƙi

Sakamakon da ba a zata ba ya shafi ƙoƙari. Marubutan suna amfani da wani ma’auni da ya dogara kan yadda gaɓoɓi ke buƙatar murɗawa. A yawancin haɗe-haɗen kaya da sauri da aka gwada, jan rickshaw ya ci wa mutum-mutumin ƙoƙari ƙasa da tafiya ba tare da komai ba — sai a kilogram 120 da mita 1.6 zuwa 2 a daƙiƙa ne kawai ya zarce tafiya. A kilogram 70, kwatangwalo suna aiki ƙasa da kashi 33, idon sawu kuma ƙasa da kashi 61; gwiwoyi suna aiki fiye da kashi 126, amma jimillar har yanzu ta fi ƙasa. A cikin kwaikwayo, ninka kaya sau huɗu daga kilogram 30 zuwa 120 yana ƙara kuɗin injina na sufuri da kashi 16.5 kawai.

Wani ɓangare na bayanin shi ne cewa keken yana mayar da turawa ta hanyar taimako. A kowane mataki, ƙarfin gefe daga hannayen keken yana hana karkarwar mutum-mutumin zuwa gefe, kuma martanin murɗawar keken yana hana birgimarsa — kamar mai shanye girgiza don daidaitonsa.

Na gaba: kama hannayen keken da kansa

Waɗannan alkaluman inganci ma’aunai ne da aka lissafa daga ƙarfin murɗawar gaɓoɓi (joint torques), ba wutar lantarki da aka auna ba: marubutan sun lissafa ainihin ma’aunin makamashi cikin matakansu na gaba, tare da koya wa mutum-mutumin kama hannayen keken da sake kama su da kansa, da kuma zaɓar hanyarsa bisa ga yanayin ƙasa.