Figure 5
From: Adaptation to criticality through organizational invariance in embodied agents
(A,B) Entropy of the sensor units for different sizes up to N = 70 (N h = 64), for 10 different agents and 101 values of β. (C,D) Heat capacity of the agent’s neurons. Heat capacity computed as \(C(\beta )=-\,\beta \frac{{\rm{\partial }}H(\beta )}{{\rm{\partial }}\beta }\), 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 system 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 second order phase transition.
