It Takes Two Neurons to Ride a Bicycle (2004)

This is a really easy read if folks are looking for easy-to-digest papers! From the results: > Although the two-neuron network controller works well for a range of speeds, one thing the controller does not do is to try to dampen the instabilities that can arise when riding too slowly or in too sharp of a turn. (This would probably require a third neuron that is dedicated to this task.)

NIPS 2004 Demonstrations: https://web.archive.org/web/20041204162656/http://www.nips.c... Virtual Bicycle — Matthew Cook, California Institute of Technology: http://www.paradise.caltech.edu/cook/papers/index.html In this work I created an environment in which I assumed learning of higher order concepts would be necessary. I created a general purpose physics-based hinged rigid body simulator and used it to simulate a bicycle for a learning agent to learn to ride. But as others have found in other contexts, most…

Worth opening for fig 2 alone!