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Diffusion-Based Body Schema Learning Enabling Abnormal-State Adaptation in Musculoskeletal Robots

Musculoskeletal robots require an internal body schema that remains consistent under a wide range of physical state changes, including abnormalities such as muscle rupture and actuator jamming. Conventional approaches based on autoencoders or variational autoencoders learn average behaviors by projecting sensor and actuator signals into a low-dimensional latent space; however, exploration within the latent space alone has limited capability to handle out-of-distribution or abnormal states that are not included in the training data. To address this limitation, this study proposes a diffusion-based framework for body schema learning in musculoskeletal robots. Unlike generative models that operate through low-dimensional latent spaces, diffusion models can directly and iteratively estimate physically consistent sensor and actuator values in the high-dimensional space through a denoising process, even under partial observations and constraints, without requiring retraining. By formulating body schema adaptation as a gradient-guided denoising process, the proposed method enables adaptive estimation of appropriate muscle lengths and muscle tensions even under abnormal conditions such as muscle rupture and actuator jamming. The validity of the proposed framework is verified through simulation experiments using a musculoskeletal robot model.

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