Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control.
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Peer-reviewed
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Article
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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.
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Keywords
Differential Extrinsic Plasticity, complexity, intrinsic motivation, neuroplasticity, play, reinforcement learning, robotic control, self-organization
Journal Title
Front Neurorobot
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Journal ISSN
1662-5218
1662-5218
1662-5218
Volume Title
16
Publisher
Frontiers Media SA
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Sponsorship
Engineering and Physical Sciences Research Council (EP/L015889/1)
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.