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.

Optimization methods

We optimized policies using a genetic algorithm (GA) and using Proximal Policy Optimization (PPO).

Genetic optimization

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.

Control schemes

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

Extras

GA can optimize quadrupeds too!

Alternative methods of locomotion

When they play your song at the club