From real-time adaptation to social learning in robot ecosystems

摘要

While evolutionary robotics can create novel morphologies and controllers that are well-adapted to their environments, learning is still the most efficient way to adapt to changes that occur on shorter time scales. Learning proposals for evolving robots to date have focused on new individuals either learning a controller from scratch, or building on the experience of direct ancestors and/or robots with similar configurations. Here we propose and demonstrate a novel means for social learning of gait patterns, based on sensorimotor synchronization. Using movement patterns of other robots as input can drive nonlinear decentralized controllers such as CPGs into new limit cycles, hence encouraging diversity of movement patterns. Stable autonomous controllers can then be locked in, which we demonstrate using a quasi-Hebbian feedback scheme. We propose that in an ecosystem of robots evolving in a heterogeneous environment, such a scheme may allow for the emergence of generalist task-solvers from a population of specialists.