<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-02860849</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-14T11:50:54+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Learning Aquatic Locomotion with Animats</title>
            <author role="aut">
              <persName>
                <forename type="first">Dennis G.</forename>
                <surname>Wilson</surname>
              </persName>
              <idno type="halauthorid">1977934-0</idno>
              <affiliation ref="#struct-1001832"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jean</forename>
                <surname>Disset</surname>
              </persName>
              <idno type="halauthorid">902296-0</idno>
              <affiliation ref="#struct-1001832"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Sylvain</forename>
                <surname>Cussat-Blanc</surname>
              </persName>
              <email type="md5">39e2024134130b0c1e1ea6dac86e8e37</email>
              <email type="domain">irit.fr</email>
              <idno type="idhal" notation="string">scussatb</idno>
              <idno type="idhal" notation="numeric">741934</idno>
              <idno type="halauthorid" notation="string">25100-741934</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-1360-1932</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=16NYbuwAAAAJ&amp;hl=en</idno>
              <idno type="IDREF">https://www.idref.fr/148741762</idno>
              <affiliation ref="#struct-1001832"/>
              <affiliation ref="#struct-81148"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Yves</forename>
                <surname>Duthen</surname>
              </persName>
              <email type="md5">1d71ad4489e447726a861d6bdf93ac7c</email>
              <email type="domain">ut-capitole.fr</email>
              <idno type="idhal" notation="string">yvesduthen</idno>
              <idno type="idhal" notation="numeric">750907</idno>
              <idno type="halauthorid" notation="string">25101-750907</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-3877-9489</idno>
              <idno type="IDREF">https://www.idref.fr/061330302</idno>
              <affiliation ref="#struct-1001832"/>
              <affiliation ref="#struct-81148"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Hervé</forename>
                <surname>Luga</surname>
              </persName>
              <email type="md5">64ae2f464eda22a7df1170aaf7243bb6</email>
              <email type="domain">irit.fr</email>
              <idno type="idhal" notation="string">herve-luga</idno>
              <idno type="idhal" notation="numeric">184840</idno>
              <idno type="halauthorid" notation="string">15064-184840</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-8675-197X</idno>
              <idno type="IDREF">https://www.idref.fr/136558313</idno>
              <orgName ref="#struct-116256"/>
              <affiliation ref="#struct-1001832"/>
              <affiliation ref="#struct-116256"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Open Archive Toulouse Archive Ouverte</forename>
                <surname>(OATAO)</surname>
              </persName>
              <email type="md5">ac3f71840d50da799c1bb19c7b808bac</email>
              <email type="domain">listes-diff.inp-toulouse.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2020-06-08 16:10:05</date>
              <date type="whenModified">2025-10-22 18:04:08</date>
              <date type="whenReleased">2020-06-08 16:33:25</date>
              <date type="whenProduced">2017-09-04</date>
              <date type="whenEndEmbargoed">2020-06-08</date>
              <ref type="file" target="https://hal.science/hal-02860849v1/document">
                <date notBefore="2020-06-08"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-02860849v1/file/wilson_22084.pdf" id="file-2860849-2514890">
                <date notBefore="2020-06-08"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="146910">
                <persName>
                  <forename>Open Archive Toulouse Archive Ouverte</forename>
                  <surname>(OATAO)</surname>
                </persName>
                <email type="md5">ac3f71840d50da799c1bb19c7b808bac</email>
                <email type="domain">listes-diff.inp-toulouse.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-02860849</idno>
            <idno type="halUri">https://hal.science/hal-02860849</idno>
            <idno type="halBibtex">wilson:hal-02860849</idno>
            <idno type="halRefHtml">&lt;i&gt;ECAL 2017: the 14th European Conference on Artificial Life&lt;/i&gt;, Sep 2017, Lyon, France. pp.585-592</idno>
            <idno type="halRef">ECAL 2017: the 14th European Conference on Artificial Life, Sep 2017, Lyon, France. pp.585-592</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-2860849-2514890"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-TLSE2">Université Toulouse 2</idno>
            <idno type="stamp" n="UNIV-TLSE3">Université de Toulouse</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UT1-CAPITOLE">Université Toulouse 1 Capitole</idno>
            <idno type="stamp" n="IRIT">IRIT - Institut de Recherche en Informatique de Toulouse</idno>
            <idno type="stamp" n="IRIT-REVA" corresp="IRIT">Real Expression Artificial Life</idno>
            <idno type="stamp" n="TEST-HALCNRS">Collection test HAL CNRS</idno>
            <idno type="stamp" n="IRIT-CISO" corresp="IRIT">Calcul Intensif, Simulation, Optimisation</idno>
            <idno type="stamp" n="IRIT-UT2J">IRIT - Université Toulouse Jean Jaurès</idno>
            <idno type="stamp" n="TOULOUSE-INP">Toulouse - INP</idno>
            <idno type="stamp" n="UNIV-UT3">Université Toulouse 3</idno>
            <idno type="stamp" n="UT3-INP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="UT3-TOULOUSEINP">Université de Toulouse / Toulouse INP</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Learning Aquatic Locomotion with Animats</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Dennis G.</forename>
                    <surname>Wilson</surname>
                  </persName>
                  <idno type="halauthorid">1977934-0</idno>
                  <affiliation ref="#struct-1001832"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jean</forename>
                    <surname>Disset</surname>
                  </persName>
                  <idno type="halauthorid">902296-0</idno>
                  <affiliation ref="#struct-1001832"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Sylvain</forename>
                    <surname>Cussat-Blanc</surname>
                  </persName>
                  <email type="md5">39e2024134130b0c1e1ea6dac86e8e37</email>
                  <email type="domain">irit.fr</email>
                  <idno type="idhal" notation="string">scussatb</idno>
                  <idno type="idhal" notation="numeric">741934</idno>
                  <idno type="halauthorid" notation="string">25100-741934</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-1360-1932</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=16NYbuwAAAAJ&amp;hl=en</idno>
                  <idno type="IDREF">https://www.idref.fr/148741762</idno>
                  <affiliation ref="#struct-1001832"/>
                  <affiliation ref="#struct-81148"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Yves</forename>
                    <surname>Duthen</surname>
                  </persName>
                  <email type="md5">1d71ad4489e447726a861d6bdf93ac7c</email>
                  <email type="domain">ut-capitole.fr</email>
                  <idno type="idhal" notation="string">yvesduthen</idno>
                  <idno type="idhal" notation="numeric">750907</idno>
                  <idno type="halauthorid" notation="string">25101-750907</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-3877-9489</idno>
                  <idno type="IDREF">https://www.idref.fr/061330302</idno>
                  <affiliation ref="#struct-1001832"/>
                  <affiliation ref="#struct-81148"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Hervé</forename>
                    <surname>Luga</surname>
                  </persName>
                  <email type="md5">64ae2f464eda22a7df1170aaf7243bb6</email>
                  <email type="domain">irit.fr</email>
                  <idno type="idhal" notation="string">herve-luga</idno>
                  <idno type="idhal" notation="numeric">184840</idno>
                  <idno type="halauthorid" notation="string">15064-184840</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-8675-197X</idno>
                  <idno type="IDREF">https://www.idref.fr/136558313</idno>
                  <orgName ref="#struct-116256"/>
                  <affiliation ref="#struct-1001832"/>
                  <affiliation ref="#struct-116256"/>
                </author>
              </analytic>
              <monogr>
                <title level="m">Proceedings of ECAL 2017, the 14th European Conference on Artificial Life</title>
                <meeting>
                  <title>ECAL 2017: the 14th European Conference on Artificial Life</title>
                  <date type="start">2017-09-04</date>
                  <date type="end">2017-09-08</date>
                  <settlement>Lyon</settlement>
                  <country key="FR">France</country>
                </meeting>
                <imprint>
                  <biblScope unit="pp">585-592</biblScope>
                  <date type="datePub">2017-09</date>
                </imprint>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Artificial creatures</term>
                <term xml:lang="en">Spike time dependent plasticity</term>
                <term xml:lang="en">Cellular physic system</term>
                <term xml:lang="en">Locomotion</term>
                <term xml:lang="en">Spiking neural networks</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halDomain" n="stat.ml">Statistics [stat]/Machine Learning [stat.ML]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>One of the challenges of researching spiking neural networks (SNN) is translation from temporal spiking behavior to classic controller output. While many encoding schemes exist to facilitate this translation, there are few benchmarks for neural networks that inherently utilize a temporal controller. In this work, we consider the common reinforcement problem of animat locomotion in an environment suited for evaluating SNNs. Using this problem, we explore novel methods of reward distribution as they impacts learning. Hebbian learning, in the form of spike time dependent plasticity (STDP), is modulated by a dopamine signal and affected by reward-induced neural activity. Different reward strategies are parameterized and the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is used to find the best strategies for fixed animat morphologies. The contribution of this work is two-fold: to cast the problem of animat locomotion in a form directly applicable to simple temporal controllers, and to demonstrate novel methods for reward modulated Hebbian learning.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-1001832" status="OLD">
          <orgName>Real Expression Artificial Life</orgName>
          <orgName type="acronym">IRIT-REVA</orgName>
          <date type="start">2018-03-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>Institut de recherche en informatique de Toulouse - IRIT2 rue Charles Camichel 31071 Toulouse Cedex 7</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.irit.fr/departement/calcul-intensif-simulation-optimisation/reva/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-34499" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UMR5505 / URA1399" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
            <relation active="#struct-1149079" type="indirect"/>
            <relation name="FED4171" active="#struct-217752" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-81148" status="VALID">
          <idno type="IdRef">026404354</idno>
          <idno type="ISNI">0000000121902837</idno>
          <idno type="ROR">https://ror.org/0443n9e75</idno>
          <orgName>Université Toulouse Capitole</orgName>
          <orgName type="acronym">UT Capitole</orgName>
          <date type="start">1970-01-01</date>
          <desc>
            <address>
              <addrLine>2 rue du Doyen-Gabriel-Marty - 31042 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ut-capitole.fr/</ref>
          </desc>
          <listRelation>
            <relation name="443875" active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-116256" status="VALID">
          <idno type="IdRef">026403994</idno>
          <idno type="ROR">https://ror.org/04ezk3x31</idno>
          <orgName>Université Toulouse - Jean Jaurès</orgName>
          <orgName type="acronym">UT2J</orgName>
          <date type="start">1971-01-01</date>
          <desc>
            <address>
              <addrLine>5 allées Antonio Machado - 31058 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse2.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-34499" status="OLD">
          <idno type="IdRef">030947448</idno>
          <idno type="ISNI">0000000121927225</idno>
          <idno type="RNSR">199511949P</idno>
          <idno type="ROR">https://ror.org/01rx4qw44</idno>
          <orgName>Institut de recherche en informatique de Toulouse</orgName>
          <orgName type="acronym">IRIT</orgName>
          <date type="start">1990-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 Route de Narbonne, F-31062 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.irit.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-81148" type="direct"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-217752" type="direct"/>
            <relation name="UMR5505 / URA1399" active="#struct-441569" type="direct"/>
            <relation active="#struct-448187" type="direct"/>
            <relation active="#struct-1149079" type="direct"/>
            <relation name="FED4171" active="#struct-217752" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-443875" status="VALID">
          <idno type="ROR">https://ror.org/017tgbk05</idno>
          <orgName>Communauté d'universités et établissements de Toulouse</orgName>
          <orgName type="acronym">Comue de Toulouse</orgName>
          <desc>
            <address>
              <addrLine>41 Allée Jules Guesde, 31000 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-toulouse.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-217752" status="OLD">
          <idno type="IdRef">026404672</idno>
          <idno type="ISNI">0000000121617331</idno>
          <idno type="ROR">https://ror.org/02v6kpv12</idno>
          <idno type="Wikidata">Q1273188</idno>
          <orgName>Université Toulouse III - Paul Sabatier</orgName>
          <orgName type="acronym">UT3</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 route de Narbonne - 31062 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse3.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-448187" status="VALID">
          <idno type="IdRef">026388820</idno>
          <idno type="ISNI">0000000121766169</idno>
          <idno type="ROR">https://ror.org/033p9g875</idno>
          <orgName>Institut National Polytechnique (Toulouse)</orgName>
          <orgName type="acronym">Toulouse INP</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inp-toulouse.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regrouplaboratory" xml:id="struct-1149079" status="OLD">
          <orgName>Toulouse Mind &amp; Brain Institut</orgName>
          <orgName type="acronym">TMBI</orgName>
          <date type="start">2021-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>CHU Purpan, Pavillon Baudot, 31059 Toulouse cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.tmbi.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation name="FED4171" active="#struct-217752" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>