用强化学习模拟小鱼捕食,揭示行为背后的能量与感知权衡。
Dissecting Larval Zebrafish Hunting using Deep Reinforcement Learning Trained RNN Agents
- 用深度强化学习训练循环神经网络代理,在仿真中学习捕食策略。
- 模型复现了真实小鱼的追踪轨迹、速度调节和眼位联动等关键行为。
- 发现仅需少量约束(如双眼视觉、运动耦合)即可生成类鱼捕食行为。
幼年斑马鱼捕食为研究生态与能量约束如何塑造适应性行为提供了理想模型。本文构建了一个极简的基于代理的模型,利用基于回合制的斑马鱼仿真器,通过深度强化学习训练循环策略。尽管模型结构简单,却能复现典型的捕食行为——包括眼位联动追踪、速度调节及标准化接近轨迹,其表现与真实幼鱼高度一致。定量轨迹分析显示,追击回合可使猎物角度平均减半,与实测数据相符。虚拟实验与参数扫描改变了生态与能量约束、回合运动学(耦合/解耦转向与前进)、环境因素如食物密度、食物速度和眼位极限。这些操作揭示了约束与环境如何影响追击动态、命中率与放弃率,并提出可验证的神经科学预测。分析表明,仅需一组有限约束——双目感知、运动学中前向速度与转向的耦合、适度的运动与眼位能耗——即可促使类斑马鱼捕食行为涌现。令人惊讶的是,这些行为在无详细生物力学、流体动力学、神经回路真实性或从真实数据模仿学习的前提下仍能出现。综上,本工作为斑马鱼捕食提供了一种规范性解释:即行为是能量代价与感知收益之间的最优平衡,突显了眼位与轨迹动态背后的核心权衡。我们建立了一个虚拟实验平台,缩小了实验搜索空间,并生成关于行为与神经编码的可证伪预测。
原文摘要 · Abstract (English)
Larval zebrafish hunting provides a tractable setting to study how ecological and energetic constraints shape adaptive behavior in both biological brains and artificial agents. Here we develop a minimal agent-based model, training recurrent policies with deep reinforcement learning in a bout-based zebrafish simulator. Despite its simplicity, the model reproduces hallmark hunting behaviors -- including eye vergence-linked pursuit, speed modulation, and stereotyped approach trajectories -- that closely match real larval zebrafish. Quantitative trajectory analyses show that pursuit bouts systematically reduce prey angle by roughly half before strike, consistent with measurements. Virtual experiments and parameter sweeps vary ecological and energetic constraints, bout kinematics (coupled vs. uncoupled turns and forward motion), and environmental factors such as food density, food speed, and vergence limits. These manipulations reveal how constraints and environments shape pursuit dynamics, strike success, and abort rates, yielding falsifiable predictions for neuroscience experiments. These sweeps identify a compact set of constraints -- binocular sensing, the coupling of forward speed and turning in bout kinematics, and modest energetic costs on locomotion and vergence -- that are sufficient for zebrafish-like hunting to emerge. Strikingly, these behaviors arise in minimal agents without detailed biomechanics, fluid dynamics, circuit realism, or imitation learning from real zebrafish data. Taken together, this work provides a normative account of zebrafish hunting as the optimal balance between energetic cost and sensory benefit, highlighting the trade-offs that structure vergence and trajectory dynamics. We establish a virtual lab that narrows the experimental search space and generates falsifiable predictions about behavior and neural coding.
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