Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Robot shaping: developing autonomous agents through learning
Artificial Intelligence
Evolutionary Robotics: The Biology,Intelligence,and Technology
Evolutionary Robotics: The Biology,Intelligence,and Technology
Parameter space structure of continuous-time recurrent neural networks
Neural Computation
Autonomous evolution of dynamic gaits with two quadruped robots
IEEE Transactions on Robotics
Evolution of central pattern generators for bipedal walking in areal-time physics environment
IEEE Transactions on Evolutionary Computation
Evolution of functional specialization in a morphologically homogeneous robot
Proceedings of the 11th Annual conference on Genetic and evolutionary computation
Evolving flexible joint morphologies
Proceedings of the 14th annual conference on Genetic and evolutionary computation
A hox gene inspired generative approach to evolving robot morphology
Proceedings of the 15th annual conference on Genetic and evolutionary computation
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Automatically synthesizing behaviors for robots with articulated bodies poses a number of challenges beyond those encountered when generating behaviors for simpler agents. One such challenge is how to optimize a controller that can orchestrate dynamic motion of different parts of the body at different times. This paper presents an incremental shaping method that addresses this challenge: it trains a controller to both coordinate a robot's leg motions to achieve directed locomotion toward an object, and then coordinate gripper motion to achieve lifting once the object is reached. It is shown that success is dependent on the order in which these behaviors are learned, and that despite the fact that one robot can master these behaviors better than another with a different morphology, this learning order is invariant across the two robot morphologies investigated here. This suggests that aspects of the task environment, learning algorithm or the controller dictate learning order more than the choice of morphology.