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
About
Locomotion of Boneless Creatures with Distributed Control
