论文标题
要用进化的塑料神经控制器跨越现实差距
Towards Crossing the Reality Gap with Evolved Plastic Neurocontrollers
论文作者
论文摘要
进化机器人技术中的一个关键问题是模拟中学到的控制器的转移到现实。小型无人机（UAV）尤其如此，因为这些平台高度动态并且容易损坏。以前的方法通常需要具有高度准确性的仿真模型，否则在设计良好的控制器被部署到目标平台上时可能会出现重大错误。在这里，我们通过设计一种使用突触可塑性来通过在线适应来越过现实差距，从不同的角度克服转移问题。通过一组实验，我们表明，进化的塑料尖峰控制器可以通过自我适应进化训练后发生的模型变化来保持其功能，因此表现出比其非塑料对应物更好的性能。
A critical issue in evolutionary robotics is the transfer of controllers learned in simulation to reality. This is especially the case for small Unmanned Aerial Vehicles (UAVs), as the platforms are highly dynamic and susceptible to breakage. Previous approaches often require simulation models with a high level of accuracy, otherwise significant errors may arise when the well-designed controller is being deployed onto the targeted platform. Here we try to overcome the transfer problem from a different perspective, by designing a spiking neurocontroller which uses synaptic plasticity to cross the reality gap via online adaptation. Through a set of experiments we show that the evolved plastic spiking controller can maintain its functionality by self-adapting to model changes that take place after evolutionary training, and consequently exhibit better performance than its non-plastic counterpart.
