tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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Tibo De Peuter 2026-03-15 23:00:30 +01:00 • committed by GitHub
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@ -12,7 +12,7 @@ the communicated inner-states, and an MLP that outputs the actions for that arm.
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 centralised 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.
@ -22,7 +22,7 @@ segments that are physically connected to it.
To fairly compare decentralized modularity against centralized control, the decentralized models should not be allowed
to contain a central organ acting as a bottleneck or coordinator. By removing the central disk in the decentralized
models and replacing it with a ring topology, we closely approximate the biological reality of the brittle star and test
a decentralized morphology.
a decentralized morphology.
The fully connected graph functions as an intermediate step in between a fully centralised and a decentralised ring. We
use it to test if the scaling of our models to more complex structures.
The fully connected graph functions as an intermediate step in between a fully centralized and a decentralized ring. We
use it to test whether our models scale to more complex structures.