相关论文: Open-Ended Evolutionary Robotics: an Information T…

The fitness level method is a popular tool for analyzing the hitting time of elitist evolutionary algorithms. Its idea is to divide the search space into multiple fitness levels and estimate lower and upper bounds on the hitting time using…

While working on a software specification, designers usually need to evaluate different architectural alternatives to be sure that quality criteria are met. Even when these quality aspects could be expressed in terms of multiple software…

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.…

Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…

This paper reviews various Evolutionary Approaches applied to the domain of Evolutionary Robotics with the intention of resolving difficult problems in the areas of robotic design and control. Evolutionary Robotics is a fast-growing field…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

We study the problem of synthesizing a controller that maximizes the entropy of a partially observable Markov decision process (POMDP) subject to a constraint on the expected total reward. Such a controller minimizes the predictability of…

One of the most critical challenges in deep reinforcement learning is to maintain the long-term exploration capability of the agent. To tackle this problem, it has been recently proposed to provide intrinsic rewards for the agent to…

This paper presents an active search trajectory synthesis technique for autonomous mobile robots with nonlinear measurements and dynamics. The presented approach uses the ergodicity of a planned trajectory with respect to an expected…

In humans, intrinsic motivation is an important mechanism for open-ended cognitive development; in robots, it has been shown to be valuable for exploration. An important aspect of human cognitive development is $\textit{episodic memory}$…

Understanding and modeling animal behavior is essential for studying collective motion, decision-making, and bio-inspired robotics. Yet, evaluating the accuracy of behavioral models still often relies on offline comparisons to static…

Games have always been a popular test bed for artificial intelligence techniques. Game developers are always in constant search for techniques that can automatically create computer games minimizing the developer's task. In this work we…

Exploration in high-dimensional, continuous spaces with sparse rewards is an open problem in reinforcement learning. Artificial curiosity algorithms address this by creating rewards that lead to exploration. Given a reinforcement learning…

Evolutionary algorithms have been successful in solving multi-objective optimization problems (MOPs). However, as a class of population-based search methodology, evolutionary algorithms require a large number of evaluations of the objective…

This work presents an architecture that generates curiosity-driven goal-directed exploration behaviours for an image sensor of a microfarming robot. A combination of deep neural networks for offline unsupervised learning of low-dimensional…

Closed-loop learning is the process of repeatedly estimating a model from data generated from the model itself. It is receiving great attention due to the possibility that large neural network models may, in the future, be primarily trained…

"Intrinsic motivation" refers to the capacity for intelligent systems to be motivated endogenously, i.e. by features of agential architecture itself rather than by learned associations between action and reward. This paper views active…

In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…

When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…

We address the challenge of exploration in reinforcement learning (RL) when the agent operates in an unknown environment with sparse or no rewards. In this work, we study the maximum entropy exploration problem of two different types. The…