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Evolving experience-dependent robust behaviour in embodied agents

journal contribution
posted on 2023-06-08, 10:19 authored by Jose A Fernandez Leon
In this work, based on behavioural and dynamical evidence, a study of simulated agents with the capacity to change feedback from their bodies to accomplish a one-legged walking task is proposed to understand the emergence of coupled dynamics for robust behaviour. Agents evolve with evolutionary-defined biases that modify incoming body signals (sensory offsets). Analyses on whether these agents show further dependence to their environmental coupled dynamics than others with no feedback control is described in this article. The ability to sustain behaviours is tested during lifetime experiments with mutational and sensory perturbations after evolution. Using dynamical systems analysis, this work identifies conditions for the emergence of dynamical mechanisms that remain functional despite sensory perturbations. Results indicate that evolved agents with evolvable sensory offset depends not only on where in neural space the state of the neural system operates, but also on the transients to which the inner-system was being driven by sensory signals from its interactions with the environment, controller, and agent body. Experimental evidence here leads discussions on a dynamical systems perspective on behavioural robustness that goes beyond attractors of controller phase space.

History

Publication status

  • Published

Journal

BioSystems

ISSN

03032647

Publisher

Elsevier

Issue

1

Volume

103

Page range

45-56

Department affiliated with

  • Informatics Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-20

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