Collective control of modular soft robots via embodied Spiking Neural Cellular Automata

Voxel-based Soft Robots (VSRs) are a form of modular soft robots, composed of several deformable cubes, i.e., voxels. Each VSR is thus an ensemble of simple agents, namely the voxels, which must cooperate to give rise to the overall VSR behavior. Within this paradigm, collective intelligence plays a key role in enabling the emerge of coordination, as each voxel is independently controlled, exploiting only the local sensory information together with some knowledge passed from its direct neighbors (distributed or collective control). In this work, we propose a novel form of collective control, influenced by Neural Cellular Automata (NCA) and based on the bio-inspired Spiking Neural Networks: the embodied Spiking NCA (SNCA). We experiment with different variants of SNCA, and find them to be competitive with the state-of-the-art distributed controllers for the task of locomotion. In addition, our findings show significant improvement with respect to the baseline in terms of adaptability to unforeseen environmental changes, which could be a determining factor for physical practicability of VSRs.Comment: Workshop on "From Cells to Societies: Collective Learning across Scales" at the International Conference on Learning Representations (Cells2Societies@ICLR

Description of spreading dynamics by microscopic network models and macroscopic branching processes can differ due to coalescence

Spreading processes are conventionally monitored on a macroscopic level by counting the number of incidences over time. The spreading process can then be modeled either on the microscopic level, assuming an underlying interaction network, or directly on the macroscopic level, assuming that microscopic contributions are negligible. The macroscopic characteristics of both descriptions are commonly assumed to be identical. In this work, we show that these characteristics of microscopic and macroscopic descriptions can be different due to coalescence, i.e., a node being activated at the same time by multiple sources. In particular, we consider a (microscopic) branching network (probabilistic cellular automaton) with annealed connectivity disorder, record the macroscopic activity, and then approximate this activity by a (macroscopic) branching process. In this framework, we analytically calculate the effect of coalescence on the collective dynamics. We show that coalescence leads to a universal non-linear scaling function for the conditional expectation value of successive network activity. This allows us to quantify the difference between the microscopic model parameter and established macroscopic estimates. To overcome this difference, we propose a non-linear estimator that correctly infers the model branching parameter for all system sizes.Comment: 13 page

Informative and misinformative interactions in a school of fish

It is generally accepted that, when moving in groups, animals process information to coordinate their motion. Recent studies have begun to apply rigorous methods based on Information Theory to quantify such distributed computation. Following this perspective, we use transfer entropy to quantify dynamic information flows locally in space and time across a school of fish during directional changes around a circular tank, i.e. U-turns. This analysis reveals peaks in information flows during collective U-turns and identifies two different flows: an informative flow (positive transfer entropy) based on fish that have already turned about fish that are turning, and a misinformative flow (negative transfer entropy) based on fish that have not turned yet about fish that are turning. We also reveal that the information flows are related to relative position and alignment between fish, and identify spatial patterns of information and misinformation cascades. This study offers several methodological contributions and we expect further application of these methodologies to reveal intricacies of self-organisation in other animal groups and active matter in general

White Paper 5: Brain, Mind & Behaviour

© CSICThe study of the brain will tell us what makes us humans and how our social behavior generates. Increasing our understanding of how the brain functions and interacts with the ecosystem to interpret the world will not only help to find effective means to treat and/or cure neurological and psychiatric disorders but will also change our vision on questions pertaining to philosophy and humanities and transform other fields such as economy and law. Neurosciences research at the CSIC is already valuable and should be intensified mainly focused on the eight major challenges described in this volume

Challenge 2: From genes & circuits to behavior

Understanding the brain from genes and circuits to behavior is a major scientific challenge. The large repertoire of cell activities supporting behavior stems from an equally diverse range of specialized cell types, from neuron to glia. To untangle mechanisms underlying brain function, elementary processes should be dissected, from the complex machinery of signaling pathways at the level of single cells and synapses, to the intricate phenomena leading to orchestrated ensemble activity and the establishment of engrams driving memory-guided behaviors. In this chapter we identify the main key tasks required to address some of the open questions in the field, and discuss on the main issues and strategies

French Roadmap for complex Systems 2008-2009

This second issue of the French Complex Systems Roadmap is the outcome of the Entretiens de Cargese 2008, an interdisciplinary brainstorming session organized over one week in 2008, jointly by RNSC, ISC-PIF and IXXI. It capitalizes on the first roadmap and gathers contributions of more than 70 scientists from major French institutions. The aim of this roadmap is to foster the coordination of the complex systems community on focused topics and questions, as well as to present contributions and challenges in the complex systems sciences and complexity science to the public, political and industrial spheres

Neural Networks for Modeling and Control of Particle Accelerators

We describe some of the challenges of particle accelerator control, highlight recent advances in neural network techniques, discuss some promising avenues for incorporating neural networks into particle accelerator control systems, and describe a neural network-based control system that is being developed for resonance control of an RF electron gun at the Fermilab Accelerator Science and Technology (FAST) facility, including initial experimental results from a benchmark controller.Comment: 21 p