Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control.
Frontiers Media SA
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Birrell, S., Abdulali, A., & Iida, F. (2022). Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control.. Front Neurorobot, 16 https://doi.org/10.3389/fnbot.2022.848084
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.
Differential Extrinsic Plasticity, complexity, intrinsic motivation, neuroplasticity, play, reinforcement learning, robotic control, self-organization
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.
Engineering and Physical Sciences Research Council (EP/L015889/1)
External DOI: https://doi.org/10.3389/fnbot.2022.848084
This record's URL: https://www.repository.cam.ac.uk/handle/1810/338107
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