相关论文: Scaling MAP-Elites to Deep Neuroevolution

During the last two decades, various models have been proposed for fish collective motion. These models are mainly developed to decipher the biological mechanisms of social interaction between animals. They consider very simple homogeneous…

Despite recent progress in robot learning, it still remains a challenge to program a robot to deal with open-ended object manipulation tasks. One approach that was recently used to autonomously generate a repertoire of diverse skills is a…

Fine-tuning large language models (LLMs) for downstream tasks is an essential stage of modern AI deployment. Reinforcement learning (RL) has emerged as the dominant fine-tuning paradigm, underpinning many state-of-the-art LLMs. In contrast,…

In this paper, we propose a novel meta-learning method in a reinforcement learning setting, based on evolution strategies (ES), exploration in parameter space and deterministic policy gradients. ES methods are easy to parallelize, which is…

Exploration is a key challenge in Reinforcement Learning, especially in long-horizon, deceptive and sparse-reward environments. For such applications, population-based approaches have proven effective. Methods such as Quality-Diversity…

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…

Quality-Diversity (QD) algorithms aim to discover diverse, high-performing solutions across behavioral niches. However, QD search often stagnates as incremental variation operators struggle to propagate building blocks across large…

Real-world problems are often comprised of many objectives and require solutions that carefully trade-off between them. Current approaches to many-objective optimization often require challenging assumptions, like knowledge of the…

In swarm robotics, any of the robots in a swarm may be affected by different faults, resulting in significant performance declines. To allow fault recovery from randomly injected faults to different robots in a swarm, a model-free approach…

In this work we show that Evolution Strategies (ES) are a viable method for learning non-differentiable parameters of large supervised models. ES are black-box optimization algorithms that estimate distributions of model parameters; however…

Bilinear Matrix Inequalities (BMIs) are fundamental to control system design but are notoriously difficult to solve due to their nonconvexity. This study addresses BMI-based control optimization problems by adapting and integrating advanced…

Many evolutionary algorithms (EAs) take advantage of parallel evaluation of candidates. However, if evaluation times vary significantly, many worker nodes (i.e.,\ compute clients) are idle much of the time, waiting for the next generation…

The importance of drinking water distribution networks (DWDNs) as critical urban infrastructures has led to the development and utilization of models for the analysis, design, operation, and management of DWDNs, to ensure optimal efficiency…

We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…

Learning algorithms, like Quality-Diversity (QD), can be used to acquire repertoires of diverse robotics skills. This learning is commonly done via computer simulation due to the large number of evaluations required. However, training in a…

This work provides an efficient sampling method for the covariance matrix adaptation evolution strategy (CMA-ES) in large-scale settings. In contract to the Gaussian sampling in CMA-ES, the proposed method generates mutation vectors from a…

The presence of functional diversity within a group has been demonstrated to lead to greater robustness, higher performance and increased problem-solving ability in a broad range of studies that includes insect groups, human groups and…

Quality-Diversity (QD) algorithms are powerful exploration algorithms that allow robots to discover large repertoires of diverse and high-performing skills. However, QD algorithms are sample inefficient and require millions of evaluations.…

Evolution Strategies (ES) are a powerful class of blackbox optimization techniques that recently became a competitive alternative to state-of-the-art policy gradient (PG) algorithms for reinforcement learning (RL). We propose a new method…

Evolution Strategy (ES) algorithms have shown promising results in training complex robotic control policies due to their massive parallelism capability, simple implementation, effective parameter-space exploration, and fast training time.…