TY - GEN
T1 - Comparing indirect encodings by evolutionary attractor analysis in the trait space of modular robots
AU - De Carlo, Matteo
AU - Ferrante, Eliseo
AU - Eiben, A. E.
N1 - Publisher Copyright:
© 2020 Owner/Author.
PY - 2020/7/8
Y1 - 2020/7/8
N2 - In evolutionary robotics, the representation of the robot is of primary importance. Often indirect encodings are used, whereby a complex developmental process grows a body and a brain from a genotype. In this work, we aim at improving the interpretability of robot morphologies and behaviours resulting from indirect encoding. We develop and use a methodology that focuses on the analysis of evolutionary attractors, represented in what we call the trait space: Using trait descriptors defined in the literature, we define morphological and behavioural Cartesian planes where we project the phenotype of the final population. In our experiments we show that, using this analysis method, we are able to better discern the effect of encodings that differ only in minor details.
AB - In evolutionary robotics, the representation of the robot is of primary importance. Often indirect encodings are used, whereby a complex developmental process grows a body and a brain from a genotype. In this work, we aim at improving the interpretability of robot morphologies and behaviours resulting from indirect encoding. We develop and use a methodology that focuses on the analysis of evolutionary attractors, represented in what we call the trait space: Using trait descriptors defined in the literature, we define morphological and behavioural Cartesian planes where we project the phenotype of the final population. In our experiments we show that, using this analysis method, we are able to better discern the effect of encodings that differ only in minor details.
KW - Evolutionary attractors
KW - Evolutionary robotics
KW - Indirect encodings
UR - http://www.scopus.com/inward/record.url?scp=85089752713&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85089752713&partnerID=8YFLogxK
U2 - 10.1145/3377929.3390032
DO - 10.1145/3377929.3390032
M3 - Conference contribution
AN - SCOPUS:85089752713
T3 - GECCO 2020 Companion - Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion
SP - 73
EP - 74
BT - GECCO 2020 Companion - Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion
PB - Association for Computing Machinery, Inc
T2 - 2020 Genetic and Evolutionary Computation Conference, GECCO 2020
Y2 - 8 July 2020 through 12 July 2020
ER -