Experimental Study of Reinforcement Learning in Mobile Robots Through Spiking Architecture of Thalamo-Cortico-Thalamic Circuitry of Mammalian Brain

In this paper, the behavioral learning of robots through spiking neural networks is studied in which the architecture of the network is based on the thalamo-cortico-thalamic circuitry of the mammalian brain. According to a variety of neurons, the Izhikevich model of single neuron is used for the representation of neuronal behaviors. One thousand and ninety spiking neurons are considered in the network. The spiking model of the proposed architecture is derived and prepared for the learning problem of robots. The reinforcement learning algorithm is based on spike-timing-dependent plasticity and dopamine release as a reward. It results in strengthening the synaptic weights of the neurons that are involved in the robot's proper performance. Sensory and motor neurons are placed in the thalamus and cortical module, respectively. The inputs of thalamo-cortico-thalamic circuitry are the signals related to distance of the target from robot, and the outputs are the velocities of actuators. The target attraction task is used as an example to validate the proposed method in which dopamine is released when the robot catches the target. Some simulation studies, as well as experimental implementation, are done on a mobile robot named Tabrizbot. Experimental studies illustrate that after successful learning, the meantime of catching target is decreased by about 36%. These prove that through the proposed method, thalamo-cortical structure could be trained successfully to learn to perform various robotic tasks.