相关论文: Evolution of a Subsumption Architecture Neurocontr…

Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…

The success of deep learning depends on finding an architecture to fit the task. As deep learning has scaled up to more challenging tasks, the architectures have become difficult to design by hand. This paper proposes an automated method,…

We introduce the perceptron Turing machine and show how it can be used to create a system of neuroevolution. Advantages of this approach include automatic scaling of solutions to larger problem sizes, the ability to experiment with…

This paper presents a technique called evolving self-supervised neural networks - neural networks that can teach themselves, intrinsically motivated, without external supervision or reward. The proposed method presents some sort-of paradigm…

We show that neural networks trained by evolutionary reinforcement learning can enact efficient molecular self-assembly protocols. Presented with molecular simulation trajectories, networks learn to change temperature and chemical potential…

The co-design of robot morphology and neural control typically requires using reinforcement learning to approximate a unique control policy gradient for each body plan, demanding massive amounts of training data to measure the performance…

Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…

Evolutionary Robotics offers the possibility to design robots to solve a specific task automatically by optimizing their morphology and control together. However, this co-optimization of body and control is challenging, because controllers…

When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

Reinforcement learning (RL) is a machine learning approach that trains agents to maximize cumulative rewards through interactions with environments. The integration of RL with deep learning has recently resulted in impressive achievements…

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…

In a multi objective setting, a portfolio manager's highly consequential decisions can benefit from assessing alternative forecasting models of stock index movement. The present investigation proposes a new approach to identify a set of…

Sophisticated multilayer neural networks have achieved state of the art results on multiple supervised tasks. However, successful applications of such multilayer networks to control have so far been limited largely to the perception portion…

Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…

We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The system consists of a high-level controller that learns to…

In NeuroEvolution, the topologies of artificial neural networks are optimized with evolutionary algorithms to solve tasks in data regression, data classification, or reinforcement learning. One downside of NeuroEvolution is the large amount…

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…

This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…

Reinforcement learning techniques achieved human-level performance in several tasks in the last decade. However, in recent years, the need for interpretability emerged: we want to be able to understand how a system works and the reasons…