Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control
Publication Date
2022-06-01Journal Title
Frontiers in Neurorobotics
ISSN
1662-5218
Publisher
Frontiers Media SA
Volume
16
Language
en
Type
Article
This Version
VoR
Metadata
Show full item recordCitation
Birrell, S., Abdulali, A., & Iida, F. (2022). Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control. Frontiers in Neurorobotics, 16 https://doi.org/10.3389/fnbot.2022.848084
Abstract
<jats:p>The neuroplasticity rule Differential Extrinsic Plasticity (DEP) has been studied in the context of goal-free simulated agents, producing realistic-looking, environmentally-aware behaviors, but no successful control mechanism has yet been implemented for intentional behavior. The goal of this paper is to determine if “short-circuited DEP,” a simpler, open-loop variant can generate desired trajectories in a robot arm. DEP dynamics, both transient and limit cycles are poorly understood. Experiments were performed to elucidate these dynamics and test the ability of a robot to leverage these dynamics for target reaching and circular motions.</jats:p>
Keywords
Neuroscience, Differential Extrinsic Plasticity, self-organization, robotic control, play, intrinsic motivation, neuroplasticity, reinforcement learning, complexity
Sponsorship
This project was possible thanks to EPSRC Grant EP/L01- 5889/1, the Royal Society ERA Foundation Translation Award (TA160113), EPSRC Doctoral Training Program ICASE AwardRG84492 (cofunded by G’s Growers), EPSRC Small Partnership AwardRG86264 (in collaboration with G’s Growers), and the BBSRC Small Partnership Grant RG81275.
Funder references
Engineering and Physical Sciences Research Council (EP/L015889/1)
Identifiers
External DOI: https://doi.org/10.3389/fnbot.2022.848084
This record's URL: https://www.repository.cam.ac.uk/handle/1810/338107
Rights
Licence:
http://creativecommons.org/licenses/by/4.0/
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