Backpropagation through Soft Body: Investigating Information Processing in Brain-Body Coupling Systems
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916646535299072 |
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| author | Tomioka, Hiroki Inoue, Katsuma Kuniyoshi, Yasuo Nakajima, Kohei |
| author_facet | Tomioka, Hiroki Inoue, Katsuma Kuniyoshi, Yasuo Nakajima, Kohei |
| contents | Animals achieve sophisticated behavioral control through dynamic coupling of the brain, body, and environment. Accordingly, the co-design approach, in which both the controllers and the physical properties are optimized simultaneously, has been suggested for generating refined agents without designing each component separately. In this study, we aim to reveal how the function of the information processing is distributed between brains and bodies while applying the co-design approach. Using a framework called ``backpropagation through soft body," we developed agents to perform specified tasks and analyzed their mechanisms. The tasks included classification and corresponding behavioral association, nonlinear dynamical system emulation, and autonomous behavioral generation. In each case, our analyses revealed reciprocal relationships between the brains and bodies. In addition, we show that optimized brain functionalities can be embedded into bodies using physical reservoir computing techniques. Our results pave the way for efficient designs of brain--body coupling systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_05601 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Backpropagation through Soft Body: Investigating Information Processing in Brain-Body Coupling Systems Tomioka, Hiroki Inoue, Katsuma Kuniyoshi, Yasuo Nakajima, Kohei Neural and Evolutionary Computing Animals achieve sophisticated behavioral control through dynamic coupling of the brain, body, and environment. Accordingly, the co-design approach, in which both the controllers and the physical properties are optimized simultaneously, has been suggested for generating refined agents without designing each component separately. In this study, we aim to reveal how the function of the information processing is distributed between brains and bodies while applying the co-design approach. Using a framework called ``backpropagation through soft body," we developed agents to perform specified tasks and analyzed their mechanisms. The tasks included classification and corresponding behavioral association, nonlinear dynamical system emulation, and autonomous behavioral generation. In each case, our analyses revealed reciprocal relationships between the brains and bodies. In addition, we show that optimized brain functionalities can be embedded into bodies using physical reservoir computing techniques. Our results pave the way for efficient designs of brain--body coupling systems. |
| title | Backpropagation through Soft Body: Investigating Information Processing in Brain-Body Coupling Systems |
| topic | Neural and Evolutionary Computing |
| url | https://arxiv.org/abs/2503.05601 |