tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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style: Fix Markdown indentation

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Tibo De Peuter 2026-03-15 23:03:09 +01:00
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docs/design/controllers.md
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@ -6,16 +6,16 @@ once, whereas modular controllers divide the brains across the body, inspired by
We define four architectures to compare:
1. **Centralized, monolithic**: A single Multi Layer Perceptron per robot that receives all observations and outputs
all actions.
all actions.
2. **Fully connected arm-level**: Each arm contains an MLP that processes the inputs for that arm, an MLP that processes
the communicated inner-states, and an MLP that outputs the actions for that arm. One policy for these MLPs is shared
across the arms. The controllers in each arm are connected to each other and form a fully connected graph. There is no
central disk, but the controllers are fully connected.
the communicated inner-states, and an MLP that outputs the actions for that arm. One policy for these MLPs is shared
across the arms. The controllers in each arm are connected to each other and form a fully connected graph. There is
no central disk, but the controllers are fully connected.
3. **Ring arm-level**: Identical setup to the fully connected arm-level, but the controllers are connected in a ring
structure. This setup is considered less centralized than the fully connected graph.
structure. This setup is considered less centralized than the fully connected graph.
4. **Segment-level**: Each segment contains the three MLPs discussed above. The base segments, attached to the body,
form a ring structure, with the remaining segments attached as extended "strings". Segments can only communicate with
segments that are physically connected to it.
form a ring structure, with the remaining segments attached as extended "strings". Segments can only communicate with
segments that are physically connected to it.
## Rationale