Research On Robotic Bionic Behavior Learning Based On Intrinsic Motivation

The behavioral learning of two-wheeled robots in the environment has problems such as low efficiency of self-exploration.Based on the information processing mechanism in human brain when humans are learning behaviors and the coordination mechanism between related neural structures,a bionic behavior learning model based on basal ganglia is established.The intrinsic motivation was introduced.And study the neural structure and coordination mechanism behind it.A biomimetic behavior learning model of the basal ganglia based on intrinsic motivation was established.Based on the dopamine continuous modulation mechanism of the human brain basal ganglia,a value decay mechanism was introduced and a basal ganglion bionic behavior learning model(VD-BG)based on value decay mechanism was proposed to enable robots to quickly achieve their goals and improve learning effects.Aiming at the low efficiency of self-exploration of robots in the unknown environment,the neural structure behind the intrinsic motivation and the coordination mechanism with the basal ganglia were studied.A bionic behavior learning model of basal ganglion based on intrinsic motivation(CIM-BLM)was established to improve the intelligence of the robot.Since the intrinsic motivation reward function is not easy to obtain in the real environment,the concept of meta-learning was introduced and the intrinsic motivation bionic behavior learning model based on meta-learning(MIM-BLM)is proposed,which was more in line with the interpretability of the organism,and the expected effect was achieved through simulation experiments.The bionic behavior learning model proposed by the subject mainly focuses on the learning of two-wheel robot balance control behavior.By simulating the information processing mechanism in the human brain,it provided a new idea and method for improving the independent exploration and learning ability of the agent.Figure 38;Table 4;Reference 51...