Outsourcing Control Requires Control Complexity.

Using simulated agents, the authors model how an embodied agent and its environment influence each other via a sensorimotor loop. Information-theoretic measures quantify information flows, including morphological computation (interaction between body and environment) and controller complexity, which relates to integrated information theory of consciousness. Prior work found that a well-adapted morphology reduces needed controller complexity. Here, the authors observe that agents must first understand relevant environmental dynamics to interact effectively, so increased controller complexity can improve body-environment interaction.

Study at a glance

Abstract

An embodied agent influences its environment and is influenced by it. We use the sensorimotor loop to model these interactions and quantify the information flows in the system by information-theoretic measures. This includes a measure for the interaction among the agent's body and its environment, often referred to as morphological computation. Additionally, we examine the controller complexity, which can be seen in the context of the integrated information theory of consciousness. Applying this framework to an experimental setting with simulated agents allows us to analyze the interaction between an agent and its environment, as well as the complexity of its controller. Previous research revealed that a morphology adapted well to a task can substantially reduce the required complexity of the controller. In this work, we observe that the agents first have to understand the relevant dynamics of the environment to interact well with their surroundings. Hence an increased controller complexity can facilitate a better interaction between an agent's body and its environment.