Reservoir controllers design though robot-reservoir timescale alignment

摘要

Natural behavior emerging in nonlinear dynamical systems enables reservoir computers to control underactuated robots by approximating their inverse dynamics. Unlike other model-free approaches, the reservoir controllers are sample-efficient, meaning a weighted average of the reservoir output can be trained with a limited amount of pre-recorded data. However, developing and testing the reservoir controller relies on repetitive experiments that require researchers' proficiency in both robot and reservoir design. In this paper, we propose a design method for reliable reservoir controllers by synchronizing the timescales of the reservoir dynamics with those observed in the robot. The results demonstrate that our timescale alignment test filters out 99% of ineffective reservoirs. We further applied the selected reservoirs to computational tasks including short-term memory and parity checks, along with control tasks involving robot trajectory tracking. Our findings reveal that a higher computational capability reduces the control failure rate, though it concurrently increases the trajectory-tracking error.