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Learning Aquatic Locomotion with Animats

Wilson, Dennis G. and Disset, Jean and Cussat-Blanc, Sylvain and Duthen, Yves and Luga, Hervé Learning Aquatic Locomotion with Animats. (2017) In: ECAL 2017: the 14th European Conference on Artificial Life, 4 September 2017 - 8 September 2017 (Lyon, France).

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Official URL: https://doi.org/10.7551/ecal_a_092

Abstract

One of the challenges of researching spiking neural networks (SNN) is translation from temporal spiking behavior to classic controller output. While many encoding schemes exist to facilitate this translation, there are few benchmarks for neural networks that inherently utilize a temporal controller. In this work, we consider the common reinforcement problem of animat locomotion in an environment suited for evaluating SNNs. Using this problem, we explore novel methods of reward distribution as they impacts learning. Hebbian learning, in the form of spike time dependent plasticity (STDP), is modulated by a dopamine signal and affected by reward-induced neural activity. Different reward strategies are parameterized and the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is used to find the best strategies for fixed animat morphologies. The contribution of this work is two-fold: to cast the problem of animat locomotion in a form directly applicable to simple temporal controllers, and to demonstrate novel methods for reward modulated Hebbian learning.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Droits : Licence Creative Commons Attribution - Non Commercial - No Derivatives 4.0 license (international) (CC-BY-NC-ND 4.0)
HAL Id:hal-02860849
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
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Deposited On:08 Jun 2020 14:09

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