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Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
We present a Spatially Embedded Evolutionary Algorithm where robot individuals exist in a physically simulated 2D environment, must navigate to encounter potential mates, and compete for survival under various spatially-aware selection…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
The underlying physiological mechanisms of generating conscious states are still unknown. To make progress on the problem of consciousness, we will need to experimentally design a system that evolves in a similar way our brains do. Recent…
While it is relatively easy to imitate and evolve natural swarm behavior in simulations, less is known about the social characteristics of simulated, evolved swarms, such as the optimal (evolutionary) group size, why individuals in a swarm…
Multi-agent AI systems need behavioral constitutions, but it is unresolved whether such rules should emerge internally through agent self-governance or be discovered externally through optimization. We present the first controlled…
Numerous algorithms have been proposed to allow legged robots to learn to walk. However, the vast majority of these algorithms is devised to learn to walk in a straight line, which is not sufficient to accomplish any real-world mission.…
Unlike most human-engineered systems, biological systems are emergent from low-level interactions, allowing much broader diversity and superior adaptation to the complex environments. Inspired by the process of morphogenesis in nature, a…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
Imitation learning with visual observations is notoriously inefficient when addressed with end-to-end behavioural cloning methods. In this paper, we explore an alternative paradigm which decomposes reasoning into three phases. First, a…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the…
Vital to primary visual processing, retinal circuitry shows many similar structures across a very broad array of species, both vertebrate and non-vertebrate, especially functional components such as lateral inhibition. This surprisingly…
Despite the emerging progress of integrating evolutionary computation into reinforcement learning, the absence of a high-performance platform endowing composability and massive parallelism causes non-trivial difficulties for research and…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
When designing a robot's internal system, one often makes assumptions about the structure of the intended environment of the robot. One may even assign meaning to various internal components of the robot in terms of expected environmental…
Mind perception in robots has been an understudied construct in human-robot interaction (HRI) compared to similar concepts such as anthropomorphism and the intentional stance. In a series of three experiments, we identify two factors that…
Brain aging is a widely studied longitudinal process throughout which the brain undergoes considerable morphological changes and various machine learning approaches have been proposed to analyze it. Within this context, brain age prediction…
Much work in robotics has focused on "human-in-the-loop" learning techniques that improve the efficiency of the learning process. However, these algorithms have made the strong assumption of a cooperating human supervisor that assists the…
This paper develops a simplified set of models describing asexual and sexual replication in unicel- lular diploid organisms. The models assume organisms whose genomes consist of two chromosomes, where each chromosome is assumed to be…