相关论文: Efficient and Diverse Generative Robot Designs usi…

Quality Diversity (QD) has emerged as a powerful alternative optimization paradigm that aims at generating large and diverse collections of solutions, notably with its flagship algorithm MAP-ELITES (ME) which evolves solutions through…

Co-designing autonomous robotic agents involves simultaneously optimizing the controller and physical design of the agent. Its inherent bi-level optimization formulation necessitates an outer loop design optimization driven by an inner loop…

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…

Animals often demonstrate a remarkable ability to adapt to their environments during their lifetime. They do so partly due to the evolution of morphological and neural structures. These structures capture features of environments shared…

Human motion generation has been widely studied due to its crucial role in areas such as digital humans and humanoid robot control. However, many current motion generation approaches disregard physics constraints, frequently resulting in…

Although deep learning has achieved appealing results on several machine learning tasks, most of the models are deterministic at inference, limiting their application to single-modal settings. We propose a novel general-purpose framework…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

The co-optimization of a robot's body and brain presents a coupled challenge: the morphology constrains which control strategies are effective, while the control determines how well the morphology performs. To address this, we combine…

This study explores the integration of Lamarckian system into evolutionary robotics (ER), comparing it with the traditional Darwinian model across various environments. By adopting Lamarckian principles, where robots inherit learned traits,…

Multi-modal optimization involves identifying multiple global and local optima of a function, offering valuable insights into diverse optimal solutions within the search space. Evolutionary algorithms (EAs) excel at finding multiple…

Lead optimization is a pivotal task in the drug design phase within the drug discovery lifecycle. The primary objective is to refine the lead compound to meet specific molecular properties for progression to the subsequent phase of…

Designing evolutionary algorithms capable of uncovering highly evolvable representations is an open challenge; such evolvability is important because it accelerates evolution and enables fast adaptation to changing circumstances. This paper…

Multi-task reinforcement learning employs a single policy to complete various tasks, aiming to develop an agent with generalizability across different scenarios. Given the shared characteristics of tasks, the agent's learning efficiency can…

In this work, we propose a novel approach for reinforcement learning driven by evolutionary computation. Our algorithm, dubbed as Evolutionary-Driven Reinforcement Learning (evo-RL), embeds the reinforcement learning algorithm in an…

Evolutionary algorithms (EAs) are general-purpose optimization algorithms, inspired by natural evolution. Recent theoretical studies have shown that EAs can achieve good approximation guarantees for solving the problem classes of submodular…

Deep Reinforcement Learning (DRL) is widely used in task-oriented dialogue systems to optimize dialogue policy, but it struggles to balance exploration and exploitation due to the high dimensionality of state and action spaces. This…

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…

Generative artificial intelligence (AI) technology is revolutionizing the computing industry. Not only its applications have broadened to various sectors but also poses new system design and optimization opportunities. The technology is…

Designing effective control policies for autonomous systems remains a fundamental challenge, traditionally addressed through reinforcement learning or manual engineering. While reinforcement learning has achieved remarkable success, it…

The remarkable success of multimodal large language models (MLLMs) has driven advances in multimodal embeddings, yet existing models remain inherently discriminative, limiting their ability to benefit from reasoning-driven generation…