相关论文: Evolution of a Subsumption Architecture Neurocontr…

Investigating relation between various structural patterns found in real-world networks and stability of underlying systems is crucial to understand importance and evolutionary origin of such patterns. We evolve multiplex networks,…

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…

We introduce a method that permits to co-evolve the body and the control properties of robots. It can be used to adapt the morphological traits of robots with a hand-designed morphological bauplan or to evolve the morphological bauplan as…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Several recent works demonstrate that transformers can implement algorithms like gradient descent. By a careful construction of weights, these works show that multiple layers of transformers are expressive enough to simulate iterations of…

Humans can make predictions on various time scales and hierarchical levels. Thereby, the learning of event encodings seems to play a crucial role. In this work we model the development of hierarchical predictions via autonomously learned…

Evolutionary Reinforcement Learning (ERL), which integrates Evolutionary Algorithms (EAs) and Reinforcement Learning (RL) for optimization, has demonstrated remarkable performance advancements. By fusing both approaches, ERL has emerged as…

Machine learning models work better when curated features are provided to them. Feature engineering methods have been usually used as a preprocessing step to obtain or build a proper feature set. In late years, autoencoders (a specific type…

A profound challenge for A-Life is to construct agents whose behavior is 'life-like' in a deep way. We propose an architecture and approach to constructing networks driving artificial agents, using processes analogous to the processes that…

This work aims to develop a resource-efficient solution for obstacle-avoiding tracking control of a planar snake robot in a densely cluttered environment with obstacles. Particularly, Neuro-Evolution of Augmenting Topologies (NEAT) has been…

Complex systems' modeling and simulation are powerful ways to investigate a multitude of natural phenomena providing extended knowledge on their structure and behavior. However, enhanced modeling and simulation require integration of…

In robotics, a common challenge in imitation learning is the mismatch between training and deployment conditions, caused, for example, by environmental changes or imperfect observation and control. When a robot follows a nominal trajectory…

In Evolutionary Robotics, evolutionary algorithms are used to co-optimize morphology and control. However, co-optimizing leads to different challenges: How do you optimize a controller for a body that often changes its number of inputs and…

Deep reinforcement learning algorithms have been successfully applied to a range of challenging control tasks. However, these methods typically struggle with achieving effective exploration and are extremely sensitive to the choice of…

Machine intelligence can develop either directly from experience or by inheriting experience through evolution. The bulk of current research efforts focus on algorithms which learn directly from experience. I argue that the alternative,…

In this review we introduce the framework of reality-assisted evolution to summarize a growing trend towards combining model-based and model-free approaches to improve the design of physically embodied soft robots. In silico, data-driven…

Integrating Large Language Models (LLMs) and Evolutionary Computation (EC) represents a promising avenue for advancing artificial intelligence by combining powerful natural language understanding with optimization and search capabilities.…

The remarkable capability of Transformers to do reasoning and few-shot learning, without any fine-tuning, is widely conjectured to stem from their ability to implicitly simulate a multi-step algorithms -- such as gradient descent -- with…

We present temporally layered architecture (TLA), a biologically inspired system for temporally adaptive distributed control. TLA layers a fast and a slow controller together to achieve temporal abstraction that allows each layer to focus…

Deep neural networks are composed of layers of parametrised linear operations intertwined with non linear activations. In basic models, such as the multi-layer perceptron, a linear layer operates on a simple input vector embedding of the…