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Morphological Development at the Evolutionary Timescale: Robotic Developmental Evolution
https://oist.repo.nii.ac.jp/records/2826
https://oist.repo.nii.ac.jp/records/28262ce6bfd3-37e2-4139-b816-7f53faa6ced0
名前 / ファイル | ライセンス | アクション |
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artl_a_00357_VoR (2.5 MB)
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CC BY 4.0
Creative Commons Attribution 4.0 International (https://creativecommons.org/licenses/by/4.0/) |
Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2022-10-21 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Morphological Development at the Evolutionary Timescale: Robotic Developmental Evolution | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Development | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | evolution | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | learning | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | robotics | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | evolutionary computation | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者(英) |
Benureau, Fabien C. Y.
× Benureau, Fabien C. Y.× Tani, Jun |
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書誌情報 |
en : Artificial Life 巻 28, 号 1, p. 3-21, 発行日 2022-06-09 |
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抄録 | ||||||
内容記述タイプ | Other | |||||
内容記述 | Evolution and development operate at different timescales; generations for the one, a lifetime for the other. These two processes, the basis of much of life on earth, interact in many non-trivial ways, but their temporal hierarchy-evolution overarching development-is observed for most multicellular life forms. When designing robots, however, this tenet lifts: It becomes-however natural-a design choice. We propose to inverse this temporal hierarchy and design a developmental process happening at the phylogenetic timescale. Over a classic evolutionary search aimed at finding good gaits for tentacle 2D robots, we add a developmental process over the robots' morphologies. Within a generation, the morphology of the robots does not change. But from one generation to the next, the morphology develops. Much like we become bigger, stronger, and heavier as we age, our robots are bigger, stronger, and heavier with each passing generation. Our robots start with baby morphologies, and a few thousand generations later, end-up with adult ones. We show that this produces better and qualitatively different gaits than an evolutionary search with only adult robots, and that it prevents premature convergence by fostering exploration. In addition, we validate our method on voxel lattice 3D robots from the literature and compare it to a recent evolutionary developmental approach. Our method is conceptually simple, and it can be effective on small or large populations of robots, and intrinsic to the robot and its morphology, not the task or environment. Furthermore, by recasting the evolutionary search as a learning process, these results can be viewed in the context of developmental learning robotics. | |||||
出版者 | ||||||
出版者 | MIT Press | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1064-5462 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1530-9185 | |||||
PubMed番号 | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | PMID | |||||
関連識別子 | info:pmid/35287173 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1162/artl_a_00357 | |||||
権利 | ||||||
権利情報 | © 2022 Massachusetts Institute of Technology | |||||
関連サイト | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://direct.mit.edu/artl/article/28/1/3/109958/Morphological-Development-at-the-Evolutionary | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |