相关论文: Snake locomotion learning search

Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…

We introduce Sophisticated Learning (SL), a planning-to-learn algorithm that embeds active parameter learning inside the Sophisticated Inference (SI) tree-search framework of Active Inference. Unlike SI -- which optimizes beliefs about…

An algorithm (bliss) is proposed to speed up the construction of slow adaptive walks. Slow adaptive walks are adaptive walks biased towards closer points or smaller move steps. They were previously introduced to explore a search space, e.g.…

Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…

We consider neural network training, in applications in which there are many possible classes, but at test-time, the task is a binary classification task of determining whether the given example belongs to a specific class, where the class…

Beetle antennae search (BAS) is an efficient meta-heuristic algorithm. However, the convergent results of BAS rely heavily on the random beetle direction in every iterations. More specifically, different random seeds may cause different…

We develop a numerical scheme to determine which planar snake motions are optimal for locomotory efficiency, across a wide range of frictional parameter space. For a large coefficient of transverse friction, we find that retrograde…

This study proposes the GOOSE algorithm as a novel metaheuristic algorithm based on the goose's behavior during rest and foraging. The goose stands on one leg and keeps his balance to guard and protect other individuals in the flock. The…

We present in this paper an exertion of our previous work by increasing the robustness and coverage of the evolution search via hybridisation with a state-of-the-art novelty search and accelerate the individual agent behaviour searches via…

The field of simulation optimization (SO) encompasses various methods developed to optimize complex, expensive-to-sample stochastic systems. Established methods include, but are not limited to, ranking-and-selection for finite alternatives…

Preserving contour topology during image segmentation is useful in many practical scenarios. By keeping the contours isomorphic, it is possible to prevent over-segmentation and under-segmentation, as well as to adhere to given topologies.…

Meta-heuristic algorithms have become very popular because of powerful performance on the optimization problem. A new algorithm called beetle antennae search algorithm (BAS) is proposed in the paper inspired by the searching behavior of…

Built upon the decision tree (DT) classification and regression idea, the subspace learning machine (SLM) has been recently proposed to offer higher performance in general classification and regression tasks. Its performance improvement is…

Learning in networks of binary synapses is known to be an NP-complete problem. A combined stochastic local search strategy in the synaptic weight space is constructed to further improve the learning performance of a single random walker. We…

Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor…

Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…

Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…

Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…

Recent work has demonstrated the promise of orchestrating large language models (LLMs) within evolutionary and agentic optimization systems. However, the mechanisms driving these optimization gains remain poorly understood. In this work, we…