Related papers: Exploring Robot Morphology Spaces through Breadth-…
In the field of evolutionary robotics, choosing the correct encoding is very complicated, especially when robots evolve both behaviours and morphologies at the same time. With the objective of improving our understanding of the mapping…
Evolution and development operate at different timescales; generations for the one, a lifetime for the other. These two processes, the basis of much of life on earth, interact in many non-trivial ways, but their temporal hierarchy --…
We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. Each robot design is represented by a structured grammar, and we use LLMs to…
In the most extensive robot evolution systems, both the bodies and the brains of the robots undergo evolution and the brains of 'infant' robots are also optimized by a learning process immediately after 'birth'. This paper is concerned with…
In evolutionary robotics, robot morphologies are designed automatically using evolutionary algorithms. This creates a body-brain optimization problem, where both morphology and control must be optimized together. A common approach is to…
In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the…
Lamarckian inheritance has been shown to be a powerful accelerator in systems where the joint evolution of robot morphologies and controllers is enhanced with individual learning. Its defining advantage lies in the offspring inheriting…
A robot finds it really hard to learn creatively and adapt to new unseen challenges. This is mainly because of the minimal information it has access to or experience towards. Paulius et al. [1] presented a way to construct functional graphs…
Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…
Evolutionary robot systems offer two principal advantages: an advanced way of developing robots through evolutionary optimization and a special research platform to conduct what-if experiments regarding questions about evolution. Our study…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
Evolving graphs arise in problems where interrelations between data change over time. We present a breadth first search (BFS) algorithm for evolving graphs that computes the most direct influences between nodes at two different times. Using…
Simultaneously evolving morphologies (bodies) and controllers (brains) of robots can cause a mismatch between the inherited body and brain in the offspring. To mitigate this problem, the addition of an infant learning period by the…
Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…
Evolving morphologies and controllers of robots simultaneously leads to a problem: Even if the parents have well-matching bodies and brains, the stochastic recombination can break this match and cause a body-brain mismatch in their…
In modular robotics, modules can be reconfigured to change the morphology of the robot, making it able to adapt for specific tasks. However, optimizing both the body and control is a difficult challenge due to the intricate relationship…
Search is a central problem in artificial intelligence, and breadth-first search (BFS) and depth-first search (DFS) are the two most fundamental ways to search. In this paper we derive estimates for average BFS and DFS runtime. The average…
When controllers (brains) and morphologies (bodies) of robots simultaneously evolve, this can lead to a problem, namely the brain & body mismatch problem. In this research, we propose a solution of lifetime learning. We set up a system…
Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed, single-task, domain-specific solutions towards adaptive, multi-function, general-purpose agents, capable of operating in complex,…
In Evolutionary Robotics a population of solutions is evolved to optimize robots that solve a given task. However, in traditional Evolutionary Algorithms, the population of solutions tends to converge to local optima when the problem is…