Indirect Encoding

Analysing the Relative Importance of Robot Brains and Bodies

The evolution of robots, when applied to both the morphologies and the controllers, is not only a means to obtain high-quality robot designs, but also a process that results in many body-brain-fitness data points. Inspired by this perspective, in …

Analysis of Lamarckian Evolution in Morphologically Evolving Robots

Evolving robot morphologies implies the need for lifetime learning so that newborn robots can learn to manipulate their bodies. An individual's morphology will obviously combine traits of all its parents; it must adapt its own controller to suit its …

Acquiring Moving Skills in Robots with Evolvable Morphologies : Recent Results and Outlook

We construct and investigate a strongly embodied evolutionary system, where not only the controllers but also the morphologies undergo evolution in an on-line fashion. In these studies, we have been using various types of robot morphologies and …

Benefits of Lamarckian Evolution for Morphologically Evolving Robots

Implementing lifetime learning by means of on-line evolution, we establish an indirect encoding scheme that combines Compositional Pattern Producing Networks (CPPNs) and Central Pattern Generators (CPGs) as a relevant learner and controller for …