Physical Neural Cellular Automata for 2D Shape Classification

TL;DR

This paper introduces a neural cellular automata-based 2D robotic system capable of self-classifying its shape, demonstrating successful transfer from simulation to hardware, inspired by biological self-recognition.

Contribution

It presents a novel neural cellular automata approach enabling modular robots to classify their shape autonomously, bridging simulation and real-world hardware implementation.

Findings

System accurately classifies shapes in simulation

Successful hardware transfer demonstrated

Open-source code available for replication

Abstract

Materials with the ability to self-classify their own shape have the potential to advance a wide range of engineering applications and industries. Biological systems possess the ability not only to self-reconfigure but also to self-classify themselves to determine a general shape and function. Previous work into modular robotics systems has only enabled self-recognition and self-reconfiguration into a specific target shape, missing the inherent robustness present in nature to self-classify. In this paper we therefore take advantage of recent advances in deep learning and neural cellular automata, and present a simple modular 2D robotic system that can infer its own class of shape through the local communication of its components. Furthermore, we show that our system can be successfully transferred to hardware which thus opens opportunities for future self-classifying machines. Code available at https://github.com/kattwalker/projectcube. Video available at https://youtu.be/0TCOkE4keyc.