Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control.
Publication Date
2022Journal Title
Front Neurorobot
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.. Front Neurorobot, 16 https://doi.org/10.3389/fnbot.2022.848084
Abstract
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.
Keywords
Differential Extrinsic Plasticity, complexity, intrinsic motivation, neuroplasticity, play, reinforcement learning, robotic control, self-organization
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/
Statistics
Total file downloads (since January 2020). For more information on metrics see the
IRUS guide.
Recommended or similar items
The current recommendation prototype on the Apollo Repository will be turned off on 03 February 2023. Although the pilot has been fruitful for both parties, the service provider IKVA is focusing on horizon scanning products and so the recommender service can no longer be supported. We recognise the importance of recommender services in supporting research discovery and are evaluating offerings from other service providers. If you would like to offer feedback on this decision please contact us on: support@repository.cam.ac.uk