Locomotion of Boneless Creatures with Distributed Control
We are interested in exploring how plausible it is to control creatures whose bodies contain muscle and no bone.
We optimized policies using a genetic algorithm (GA) and using Proximal Policy Optimization (PPO).
|Tetrapus with high springiness||Tetrapus with low springiness|
Proximal Policy Optimization
|PPO creates stochastic policies, which are
not as effective as those found using GA.
We wanted to compare how policy effectiveness changes when you go from a single controller with full state knowledge to a set of distributed controllers, with only local state knowledge and the ability to pass information to neighbouring controllers.
|Worm with global controller||Worm with local, communicating controllers||Worm with local controllers but no communication|
|GA can optimize quadrupeds too!|
|Alternative methods of locomotion|
|When they play your song at the club|