Information-Driven-Self-Organization-of-Complex-Robotic-Behaviors-pone.0063400.s003

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Humanoid robot on the ground. One high-dimensional TiPI maximizing controller is used here (17 DoF). The controller starts from a small unit initialization, causing the robot to lay calmly. After an initial phase where the parameters adjust to create some activity we observe smooth patterns of behavior that patterns come and go with time. Within short time intervals one sees several repetitions of one mode until it vanishes and a new one emerges. Parameters: (epsilon = 0.0002, eta = 0.1).

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