Dr Leni Le Goff L.LeGoff2@napier.ac.uk
Lecturer
On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme
Goff, Léni K. Le; Hart, Emma
Authors
Prof Emma Hart E.Hart@napier.ac.uk
Professor
Abstract
We investigate a hierarchical scheme for the joint optimisation of robot bodies and controllers in a complex morphological space. An evolutionary algorithm optimises body-plans while a separate learning algorithm is applied to each body generated to learn a controller. We investigate the interaction of these processes using a weak and then strong learning method. Results show that the weak learner leads to more body-plan diversity but that both learners cause premature convergence of body-plans to local optima. We conclude with suggestions as the framework might be adapted to address these issues in future.
Citation
Goff, L. K. L., & Hart, E. (2021, July). On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme. Presented at GECCO '21: Genetic and Evolutionary Computation Conference, Lille, France
Presentation Conference Type | Conference Paper (Published) |
---|---|
Conference Name | GECCO '21: Genetic and Evolutionary Computation Conference |
Start Date | Jul 10, 2021 |
End Date | Jul 14, 2021 |
Acceptance Date | Apr 26, 2021 |
Online Publication Date | Jul 8, 2021 |
Publication Date | Jul 7, 2021 |
Deposit Date | Oct 13, 2021 |
Publicly Available Date | Oct 13, 2021 |
Publisher | Association for Computing Machinery (ACM) |
Pages | 1498-1502 |
Book Title | GECCO '21: Proceedings of the Genetic and Evolutionary Computation Conference Companion |
DOI | https://doi.org/10.1145/3449726.3463156 |
Keywords | learning, evolution, morphology, optimisation |
Public URL | http://researchrepository.napier.ac.uk/Output/2812272 |
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On The Challenges Of Jointly Optimising Robot Morphology And Control Using A Hierarchical Optimisation Scheme (accepted version)
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