Hierarchical optimal control of complex dynamics - new algorithms and models of sensorimotor function

提案编号：ECS-0524761提案标题：复杂动力学的分层最优控制-感觉运动功能的新算法和模型PI名称：托多罗夫，伊曼纽尔PI研究所：加州大学圣地亚哥分校智力优点：PI计划使用和集成更新的自适应动态编程或“强化学习”方法，并将它们应用于生物力学系统的建模和控制，如人类手臂的运动。强化学习方法已经在生物学和手臂运动研究中得到了应用，但过去的研究主要依赖于旧的、简单的数学结构，这些结构不能很好地扩展到空间和时间的高度复杂性。这个项目将做出独特的努力，接触、整合和使用更先进的方法。努力了解大脑中有效决策和控制的数学和功能基础，可能是科学面临的最重要、最根本的挑战之一。广泛的好处：最先进的技术领域和对大脑智力的严肃研究之间的跨学科交流仍然远远不够。如果成功，这个项目可能会对跨学科知识的统一产生重大影响。积极的教育和传播是努力弥合与这些科学目标相关的学科之间差距的自然部分。更好地理解生物力学问题可能在医学和机器人方面都有重要的好处。

Proposal Number: ECS-0524761Proposal Title: Hierarchical optimal control of complex dynamics - new algorithms and models of sensorimotor functionPI Name: Todorov, EmanuelPI Institution: University of California-San Diego Intellectual Merit: The PI plans to use and integrate more recent methods of adaptive dynamic programming or "reinforcement learning," and apply them to the modeling and control of biomechanical systems like human arm movement. Reinforcement learning methods have been applied before in biology and in the study of arm movement, but past studies have mainly relied on old, simple mathematical structures which do not scale well to high degrees of complexity in space and time. This project will make a unique effort to reach out, integrate and use more advanced methods. The effort to understand the mathematical, functional basis of effective decision and control in the brain is perhaps one of the most important, fundamental challenges before science in general.Broader Benefits: Cross-disciplinary communication between the most advanced areas of technology and the serious study of intelligence in the brain is still far less than it could be. If successful, this project could have a major impact on the unification of knowledge across disciplines. Aggressive education and dissemination are a natural part of the effort to heal the gap between disciplines related to these scientific goals.Better understanding of biomechanical issues may also have important benefits both in medicine and in robots.