Reinforcement Learning of Artificial Microswimmers

Abstract

The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship between a sensed situation and what to do in this situation [2-4]. An implementation of such processes in artificial systems has been achieved through different machine learning algorithms [5, 6]. However, for microscopic systems such as artificial microswimmers which mimic propulsion as one of the basic functionalities of living systems [7, 8] such adaptive behavior and learning processes have not been implemented so far. Here we introduce machine learning algorithms to the motion of artificial microswimmers with a hybrid approach. We employ self-thermophoretic artificial microswimmers in a real world environment [9, 10] which are controlled by a real-time microscopy system to introduce reinforcement learning [11-13]. We demonstrate the solution of a standard problem of reinforcement learning - the navigation in a grid world. Due to the size of the microswimmer, noise introduced by Brownian motion if found to contribute considerably to both the learning process and the actions within a learned behavior. We extend the learning process to multiple swimmers and sharing of information. Our work represents a first step towards the integration of learning strategies into microsystems and provides a platform for the study of the emergence of adaptive and collective behavior.