On the impact of body material properties on neuroevolution for embodied agents: the case of voxel-based soft robots
On the impact of body material properties on neuroevolution for embodied agents: the case of voxel-based soft robots
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身体材料特性对实体代理神经进化的影响：以基于体素的软机器人为例
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
F. Pigozzi
中科院分区：
文献类型：
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作者：
Eric Medvet;Giorgia Nadizar;F. Pigozzi
执行非平凡任务所需的人工代理通常由人工神经网络（ANN）控制，需要仔细微调。这就是ANN优化发挥作用的地方，通常以神经进化（NE）的形式。在人工代理中，具体化的代理的特征在于强烈的身体-大脑纠缠，即，身体的物理特性和控制器之间的强相互依赖性。在这项工作中，我们的目的是表征所述互连，实验评估的影响体材料性能对NE的体现代理。我们考虑的情况下，基于体素的软机器人（VSRs），一类模拟模块化的软机器人，实现运动，通过有节奏的收缩和扩展他们的模块。我们实验不同的VSRs的几个物理特性和评估的有效性的进化控制器的任务的运动，连同他们的鲁棒性和适应性。我们的研究结果证实了一个深的身体-大脑的相互关系体现代理的存在，并强调NE如何卓有成效地利用代理的物理特性，产生广泛的有效和适应性的行为。
Artificial agents required to perform non-trivial tasks are commonly controlled with Artificial Neural Networks (ANNs), which need to be carefully fine-tuned. This is where ANN optimization comes into play, often in the form of Neuroevolution (NE). Among artificial agents, the embodied ones are characterized by a strong body-brain entanglement, i.e., a strong interdependence between the physical properties of the body and the controller. In this work, we aim at characterizing said interconnection, experimentally evaluating the impact body material properties have on NE for embodied agents. We consider the case of Voxel-based Soft Robots (VSRs), a class of simulated modular soft robots which achieve movement through the rhythmical contraction and expansion of their modules. We experiment varying several physical properties of VSRs and assess the effectiveness of the evolved controllers for the task of locomotion, together with their robustness and adaptability. Our results confirm the existence of a deep body-brain interrelationship for embodied agents, and highlight how NE fruitfully exploits the physical properties of the agents to give rise to a wide gamut of effective and adaptable behaviors.
影响因子：
64.8
作者：
Aubin, Cameron A.;Gorissen, Benjamin;Shepherd, Robert F.
通讯作者：
Shepherd, Robert F.