Reward-Modulated Hebbian Plasticity as Leverage for Partially Embodied Control in Compliant Robotics

Frontiers in Neurorobotics
Jeroen BurmsJoni Dambre

Abstract

In embodied computation (or morphological computation), part of the complexity of motor control is offloaded to the body dynamics. We demonstrate that a simple Hebbian-like learning rule can be used to train systems with (partial) embodiment, and can be extended outside of the scope of traditional neural networks. To this end, we apply the learning rule to optimize the connection weights of recurrent neural networks with different topologies and for various tasks. We then apply this learning rule to a simulated compliant tensegrity robot by optimizing static feedback controllers that directly exploit the dynamics of the robot body. This leads to partially embodied controllers, i.e., hybrid controllers that naturally integrate the computations that are performed by the robot body into a neural network architecture. Our results demonstrate the universal applicability of reward-modulated Hebbian learning. Furthermore, they demonstrate the robustness of systems trained with the learning rule. This study strengthens our belief that compliant robots should or can be seen as computational units, instead of dumb hardware that needs a complex controller. This link between compliant robotics and neural networks is also the main reason fo...Continue Reading

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Citations

Jun 1, 2016·Frontiers in Neurorobotics·Frank van der Velde
Sep 4, 2020·Scientific Reports·Matthias FreibergerJoni Dambre
Nov 19, 2015·Frontiers in Neurorobotics·Andrea Soltoggio, Frank van der Velde

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