Figure 4
From: Adaptation to criticality through organizational invariance in embodied agents
(A,B) Entropy of the agent’s neural controller for different sizes up to N = 22 (N h = 16), for 10 different agents and 101 values of β. (C,D) Heat capacity of the agent’s neurons. Heat capacity computed as \(C(\beta )=-\,\beta \frac{\partial H(\beta )}{\partial \beta }\), where H(β) is estimated using B-splines. Maximum and minimum values are shown by the grey area. The figures suggest that in both the Mountain Car (left) and Acrobot (right) embodiments the model presents a divergence of its heat capacity as the number of neurons N increases, suggesting that the neural controller of the system is near a continuous phase transition.
