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Evolving experience-dependent robust behaviour in embodied agents.

Jose A Fernandez-Leon¹

¹Centre for Computational Neuroscience and Robotics, University of Sussex, Brighton, United Kingdom. jafphd@gmail.com

|October 12, 2010

Summary

This summary is machine-generated.

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Simulated agents that adapt sensory feedback achieve robust one-legged walking. Evolved sensory offsets enable stable locomotion despite perturbations, revealing key dynamics for behavioral resilience.

Area of Science:

Robotics
Computational Neuroscience
Evolutionary Biology

Background:

Robust locomotion is crucial for agent survival and task completion.
Understanding how agents adapt sensory feedback to environmental challenges is key.
Simulated agents offer a platform to study the emergence of complex behaviors.

Purpose of the Study:

To investigate the emergence of coupled dynamics for robust behavior in simulated agents.
To analyze how adaptable sensory feedback (sensory offsets) influences locomotion.
To determine conditions for functional dynamical mechanisms under sensory perturbations.

Main Methods:

Simulated agents with evolutionary-defined sensory offsets were developed.
One-legged walking tasks were used to assess behavioral robustness.

Related Experiment Videos

Dynamical systems analysis and lifetime experiments with perturbations were employed.

Main Results:

Evolved agents demonstrated enhanced dependence on environmental coupled dynamics.
Adaptable sensory offsets were critical for maintaining locomotion during perturbations.
Behavioral robustness was linked to neural system state and sensory signal transients.

Conclusions:

Evolvable sensory offsets are vital for achieving robust locomotion in simulated agents.
Dynamical mechanisms can remain functional despite sensory perturbations.
A dynamical systems perspective offers insights into behavioral robustness beyond simple attractors.