tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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fix: renamed MLPs with new names

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cedric 2026-04-02 08:30:04 +00:00
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docs/design_decisions/mlp_architecture.md
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In the decentralized architectures (arm-level and segment-level), each controller/module follows the same **shared MLP-based pipeline** inspired by NerveNet-style message passing. The pipeline consists of 5 MLPs (4 in the case of centralized, with no messager):
- **INPUT_ACTOR**: Processes local observations for the actor branch.
- **INPUT_CRITIC**: Processes local observations for the critic branch.
- **SENSOR**: Processes local observations for the actor branch.
- **FEATURE EXTRACTOR**: Processes local observations for the critic branch.
- **MESSAGER**: Processes incoming hidden states from neighboring modules (via the chosen communication scheme) and produces an aggregated hidden state.
- **ACTOR**: Takes the aggregated hidden state and outputs the action distribution (mean and log_std).
- **CRITIC**: Takes the aggregated hidden state and outputs a scalar value estimate.

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docs/img/mlp_pipe.png
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