AUTHOR=Smith Simón C. , Dharmadi Richard , Imrie Calum , Si Bailu , Herrmann J. Michael 

TITLE=The DIAMOND Model: Deep Recurrent Neural Networks for Self-Organizing Robot Control

JOURNAL=Frontiers in Neurorobotics

VOLUME=14

YEAR=2020

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2020.00062

DOI=10.3389/fnbot.2020.00062

ISSN=1662-5218

ABSTRACT=<p>The proposed architecture applies the principle of predictive coding and deep learning in a brain-inspired approach to robotic sensorimotor control. It is composed of many layers each of which is a recurrent network. The component networks can be spontaneously active due to the homeokinetic learning rule, a principle that has been studied previously for the purpose of self-organized generation of behavior. We present robotic simulations that illustrate the function of the network and show evidence that deeper networks enable more complex exploratory behavior.</p>