Online Evolution

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 …

Improving RL Power for On-Line Evolution of Gaits in Modular Robots

This paper addresses the problem of on-line gait learning in modular robots whose shape is not known in advance. The best algorithm for this problem known to us is a reinforcement learning method, called RL PoWER. In this study we revisit the …