相关论文: A Unified Substrate for Body-Brain Co-evolution

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…

In practical optimisation the dominant characteristics of the problem are often not known prior. Therefore, there is a need to develop general solvers as it is not always possible to tailor a specialised approach to each application. The…

The disparity in access to machine learning tools for medical imaging across different regions significantly limits the potential for universal healthcare innovation, particularly in remote areas. Our research addresses this issue by…

Modern machine learning uses more and more advanced optimization techniques to find optimal hyper parameters. Whenever the objective function is non-convex, non continuous and with potentially multiple local minima, standard gradient…

We propose a computationally efficient limited memory Covariance Matrix Adaptation Evolution Strategy for large scale optimization, which we call the LM-CMA-ES. The LM-CMA-ES is a stochastic, derivative-free algorithm for numerical…

Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…

One of the most challenging types of ill-posedness in global optimization is the presence of insensitivity regions in design parameter space, so the identification of their shape will be crucial, if ill-posedness is irrecoverable. Such…

Empowerment -- a domain independent, information-theoretic metric -- has previously been shown to assist in the evolutionary search for neural cellular automata (NCA) capable of homeostasis when employed as a fitness function. In our…

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for creating intelligent agents-from virtual…

Evolutionary algorithms (EAs) have been successfully applied to optimize the policies for Reinforcement Learning (RL) tasks due to their exploration ability. The recently proposed Negatively Correlated Search (NCS) provides a distinct…

Neural cellular automata (Neural CA) are a recent framework used to model biological phenomena emerging from multicellular organisms. In these systems, artificial neural networks are used as update rules for cellular automata. Neural CA are…

This paper presents Coralai, a framework for exploring diverse ecosystems of Neural Cellular Automata (NCA). Organisms in Coralai utilize modular, GPU-accelerated Taichi kernels to interact, enact environmental changes, and evolve through…

Representations for black-box optimisation methods (such as evolutionary algorithms) are traditionally constructed using a delicate manual process. This is in contrast to the representation that maps DNAs to phenotypes in biological…

Neural Cellular Automata (NCA) models have shown remarkable capacity for pattern formation and complex global behaviors stemming from local coordination. However, in the original implementation of NCA, cells are incapable of adjusting their…

A multi-robot system (MRS) is a group of coordinated robots designed to cooperate with each other and accomplish given tasks. Due to the uncertainties in operating environments, the system may encounter emergencies, such as unobserved…

Single-cell sequencing is revolutionizing biology by enabling detailed investigations of cell-state transitions. Many biological processes unfold along continuous trajectories, yet it remains challenging to extract smooth, low-dimensional…

Deep learning approaches such as convolutional neural nets have consistently outperformed previous methods on challenging tasks such as dense, semantic segmentation. However, the various proposed networks perform differently, with behaviour…

Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is a highly effective optimization technique. A primary challenge when applying CMA-ES in high dimensionality is sampling from a multivariate normal distribution with an arbitrary…