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14th International Conference on Genetic and evolutionary Computation Conference (GECCO)

作者： Bongard, Josh C. Beliveau, Paul Hornby, Gregory S. Univ Vermont Dept Comp Sci Burlington VT 05405 USA Univ Calif Santa Cruz NASA Ames Res Ctr Santa Cruz CA 95064 USA

ISBN: (纸本)9781450311786

The main bottleneck in evolutionary robotics has traditionally been the time required to evolve robot controllers. However with the continued acceleration in computational resources, the main bottleneck is now the time required for an investigator to create a robot simulator, a neural network, evolutionary algorithm and fitness function that together produce the desired behavior. Here we introduce a software framework that allows a user to conduct evolutionary robotics experiments without having to write any software themselves: the user defines the robot morphology, task environment and fitness function interactively;a neural network is constructed based on the robot's morphology;and an evolutionary algorithm optimizes desired behavior. We here show that this approach allows users to overcome one of the main limitations of evolutionary algorithms-recognizing and then preventing cntrapment in local optima-in a continuous, code free manner.

关键词： evolutionary robotics Interactive evolutionary Algorithins evolutionary Algorithlns

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A Baseline-Realistic Objective Open-Ended Kinematics Simulator for evolutionary robotics 17

A Baseline-Realistic Objective Open-Ended Kinematics Simulat...

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Genetic and evolutionary Computation Conference (GECCO)

作者： Konsella, Riley Chiarulli, Frank Peterson, John Rieffel, John Union Coll 807 Union St Schenectady NY 12308 USA

ISBN: (纸本)9781450349390

Most modern applications of evolutionary robotics (ER) rely upon computer-based physics simulations in order to model the behavior of the systems in question. One of the greatest challenges in the field of ER, therefore, is the development of robust, high-precision and accurate physics simulators that can model all necessary and relevant real-world interactions in an computationally efficient manner. Up until now, most popular ER simulators are nonetheless deficient in one or many of these properties. Here we introduce a new competitive simulator, the Baseline-Realistic Objective Open-Ended Kinematics Simulator (BROOKS) that outperforms other off-the-shelf simulators in most criteria. Our simulator is free, open-sourced, and easy to modify. It can model a wide range of robotic platforms, substrates and environments. Moreover, we claim solutions produced within the BROOKS simulator perform almost identically in the real-world, thereby helping to address one of the most challenging aspects of simulation in evolutionary robotics: the Reality Gap. Ultimately, we believe that BROOKS will establish a new baseline against which all other simulators should be compared.

关键词： evolutionary robotics Simulation Reality

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Racing to Improve On-line, On-board evolutionary robotics 11

Racing to Improve On-line, On-board Evolutionary Robotics

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13th Annual Genetic and evolutionary Computation Conference (GECCO)

作者： Haasdijk, Evert Arif, Atta-ul-Qayyum Eiben, Agoston Endre Vrije Univ Amsterdam Dept Comp Sci Amsterdam Netherlands

ISBN: (纸本)9781450305570

In evolutionary robotics, robot controllers are often evolved in a separate development phase preceding actual deployment - we call this off-line evolution. In on-line evolutionary robotics, by contrast, robot controllers adapt through evolution while the robots perform their proper tasks, not in a separate preliminary phase. In this case, individual robots can contain their own self-sufficient evolutionary algorithm (the encapsulated approach) where individuals are typically evaluated by means of a time sharing scheme: an individual is given the run of the robot for some amount of time and fitness corresponds to the robot's task performance in that period. Racing was originally introduced as a model selection procedure that quickly discards clearly inferior models. We propose and experimentally validate racing as a technique to cut short the evaluation of poor individuals before the regular evaluation period expires. This allows an increase of the number of individuals evaluated per time unit, but it also increases the robot's actual performance by virtue of abandoning controllers that perform inadequately. Our experiments show that racing can improve the performance of robots that adapt their controllers by means of an on-line evolutionary algorithm significantly.

关键词： evolutionary robotics on-line evolution racing

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Embodied Artificial Life at an Impasse Can evolutionary robotics Methods Be Scaled?

Embodied Artificial Life at an Impasse Can Evolutionary Robo...

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2014 IEEE Symposium on Evolving and Autonomous Learning Systems (EALS)

作者： Nelson, Andrew L. Androtics LLC Tucson AZ 85733 USA

ISBN: (纸本)9781479944941

evolutionary robotics (ER) investigates the application of artificial evolution toward the synthesis of robots capable of performing autonomous behaviors. Over the last 25 years, researchers have reported increasingly complex evolved behaviors, and have compiled a de facto set of benchmark tasks. Perhaps the best known of these is the obstacle avoidance and target homing task performed by differential drive robots. More complex tasks studied in recent ER work include augmented variants of the rodent T-maze and complex foraging tasks. But can proof-of-concept results such as these be extended to evolve complex autonomous behaviors in a general sense? In this topical analysis paper we survey relevant research and make the case that common tasks used to demonstrate the effectiveness of evolutionary robotics are not characteristic of more general cases and in fact do not fully prove the concept that artificial evolution can be used to evolve sophisticated autonomous agent behaviors. Robots capable of performing many of the tasks studied in ER have now been evolved using nearly aggregate binary success/fail fitness functions. However, arguments used to support the necessity of incremental methods for complex tasks are essentially sound. This raises the possibility that the tasks themselves allow for relatively simple solutions, or span a relatively small candidate solution set. This paper presents these arguments in detail and concludes with a discussion of current ER research.

关键词： evolutionary robotics artificial life artificial evolution open-ended evolution genetic algorithms

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NERD Neurodynamics and evolutionary robotics Development Kit

NERD Neurodynamics and Evolutionary Robotics Development Kit

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2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

作者： Rempis, Christian Thomas, Verena Bachmann, Ferry Pasemann, Frank Univ Osnabruck Inst Cognit Sci D-49069 Osnabruck Germany

ISBN: (纸本)9783642173189

The aim of evolutionary robotics is to develop neural systems for behavior control of autonomous robots. For non-trivial behaviors or non-trivial machines the implementation effort for suitably specialized simulators and evolution environments is often very high. The Neurodynamics and evolutionary robotics Development Kit (NERD), presented in this article, is a free open-source framework to rapidly implement such applications. It includes separate libraries (1) for the simulation of arbitrary robots in dynamic environments, allowing the exchange of underlying physics engines, (2) the simulation, manipulation and analysis of recurrent neural networks for behavior control, and (3) an extensible evolution framework with a number of neuro-evolution algorithms. NERD comes with a set of applications that can be used directly for many evolutionary robotics experiments. Simulation scenarios and specific extensions can be defined via XML, scripts and custom plug-ins. The NERD kit is available at *** under the GPL license.

关键词： Simulation evolutionary robotics Neuro-evolution

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An evolutionary robotics Approach to the Control of Plant Growth and Motion: Modeling Plants and Crossing the Reality Gap 10

An Evolutionary Robotics Approach to the Control of Plant Gr...

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10th IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO)

作者： Wahby, Mostafa Hofstadler, Daniel Nicolas Heinrich, Mary Katherine Zahadat, Payam Hamann, Heiko Univ Paderborn Heinz Nixdorf Inst Dept Comp Sci Paderborn Germany Karl Franzens Univ Graz Dept Zool Artificial Life Lab Graz Austria Royal Danish Acad Ctr IT & Architecture Sch Architecture Copenhagen Denmark Tech Univ Chemnitz Dept Comp Sci Chemnitz Germany

ISBN: (纸本)9781509035342

The self-organizing bio-hybrid collaboration of robots and natural plants allows for a variety of interesting applications. As an example we investigate how robots can be used to control the growth and motion of a natural plant, using LEDs to provide stimuli. We follow an evolutionary robotics approach where task performance is determined by monitoring the plant's reaction. First, we do initial plant experiments with simple, predetermined controllers. Then we use image sampling data as a model of the dynamics of the plant tip xy position. Second, we use this approach to evolve robot controllers in simulation. The task is to make the plant approach three predetermined, distinct points in an xy-plane. Finally, we test the evolved controllers in real plant experiments and find that we cross the reality gap successfully. We shortly describe how we have extended from plant tip to many points on the plant, for a model of the plant stem dynamics. Future work will extend to two-axes image sampling for a 3-d approach.

关键词： bio-hybrid evolutionary robotics plant modeling reality gap self-organization

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Adaptation to sensory delays an evolutionary robotics model of an empirical study

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9th European Conference on Artificial Life

作者： Rohde, Marieke Di Paolo, Ezequiel Univ Sussex CCNR Brighton BN1 9QH E Sussex England

ISBN: (纸本)9783540749127

evolutionary robotics simulations can serve as a tool to clarify counterintuitive or dynamically complex aspects of sensorimotor behaviour. We present a series of simulations that has been conducted in order to aid the interpretation of ambiguous empirical data on human adaptation to delayed tactile feedback. Agents have been evolved to catch objects falling at different velocities to investigate the behavioural impact that lengthening or shortening of sensory delays has on the strategies evolved. A detailed analysis of the evolved model agents leads to a number of hypotheses for the quantification of the existing data, as well as to ideas for possible further empirical experiments. This study confirms the utility of evolutionary robotics simulation in this kind of interdisciplinary endeavour.

关键词： evolutionary robotics sensory delays sensorimotor adaptation

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Neuromodelling based on evolutionary robotics: On the importance of motor control for spatial attention

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COGNITIVE PROCESSING 2015年第1-Sup期16卷 S31-S32页

作者： Gigliotta, Onofrio Miglino, Orazio Bartolomeo, Paolo Univ Naples Federico II Naples Italy ISTC CNR Rome Italy UPMC Hop Salpetriere Brain & Spine Inst INSERMUMRS Paris France

Mainstream approaches to modelling cognitive processes have typically focused on (1) reproducing their neural underpinning, without regard to sensory-motor systems and (2) producing a single, ideal computational model. evolutionary robotics is an alternative possibility to bridge the gap between neural substrate and behavior by means of a sensory-motor apparatus, and a powerful tool to build a population of individuals rather than a single model. We trained 4 populations of neurorobots, equipped with a pan/tilt/zoom camera, and provided with different types of motor control in order to perform a cancellation task, often used to tap spatial cognition. Neurorobots’ eye movements were controlled by (a) position, (b) velocity, (c) simulated muscles and (d) simulated muscles with fixed level of zoom. Neurorobots provided with muscle and velocity control showed better performances than those controlled in position. This is an interesting result since muscle control can be considered a particular type of position control. Finally, neurorobots provided with muscle control and zoom outperformed those without zooming ability.

关键词： Simulation Cancellation task Neural networks Neurorobots evolutionary robotics

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Elements of embodied evolutionary robotics 15

Elements of embodied evolutionary robotics

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17th Genetic and evolutionary Computation Conference, GECCO 2015

作者： Bredeche, Nicolas Haasdijk, Evert Prieto, Abraham Sorbonne Universités UPMC Univ Paris 06 UMR 7222 ISIR ParisF-75005 France CNRS UMR 7222 ISIR ParisF-75005 France VU University Amsterdam Amsterdam Netherlands Integrated Group for Engineering Research Universidade da Coruña Spain

This workshop presentation describes the general concepts behind embodied evolution, and intends to provide an up-to-date view of lessons learned and current open issues.

ISBN: (纸本)9781450334884

This workshop presentation describes the general concepts behind embodied evolution, and intends to provide an up-to-date view of lessons learned and current open issues.

关键词： evolutionary robotics embodied evolution

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Back to reality: Crossing the reality gap in evolutionary robotics

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IFAC Proceedings Volumes 2004年第8期37卷 834-839页

作者： Juan Cristóbal Zagal Javier Ruiz-del-Solar Paul Vallejos Department of Electrical Engineering Universidad de Chile

In this work a new method to evolutionary robotics is proposed, it combines into asingle framework, learning from reality and simulations. An illusory sub-system is incorporated as an integral part of an autonomous system. The adaptation of the illusory system results from minimizing differences of robot behavior evaluations in reality and in simulations. Behavior guides the illusory adaptation by sampling task-relevant instances of the world. Thus explicit calibration is not required. We remark two attributes of the presented methodology: (i) it is a promising approach for crossing the reality-gap among simulation and reality in evolutionary robotics, and (ii) it allows to generate automatically models and theories of the real robot environment expressed as simulations. We present validation experiments on locomotive behavior acquisition for legged robots.

关键词： evolutionary robotics Autonomous Systems On-line Learning

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