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GECCO
2010
Springer

Crossing the reality gap in evolutionary robotics by promoting transferable controllers

9 years 4 months ago
Crossing the reality gap in evolutionary robotics by promoting transferable controllers
The reality gap, that often makes controllers evolved in simulation inefficient once transferred onto the real system, remains a critical issue in Evolutionary Robotics (ER); it prevents ER application to real-world problems. We hypothesize that this gap mainly stems from a conflict between the efficiency of the solutions in simulation and their transferability from simulation to reality: best solutions in simulation often rely on bad simulated phenomena (e.g. the most dynamic ones). This hypothesis leads to a multi-objective formulation of ER in which two main objectives are optimized via a Pareto-based Multi-Objective Evolutionary Algorithm: (1) the fitness and (2) the transferability. To evaluate this second objective, a simulation-to-reality disparity value is approximated for each controller. The proposed method is applied to the evolution of walking controllers for a real 8-DOF quadrupedal robot. It successfully finds efficient and well-transferable controllers with only a fe...
Sylvain Koos, Jean-Baptiste Mouret, Stéphan
Added 19 Jul 2010
Updated 19 Jul 2010
Type Conference
Year 2010
Where GECCO
Authors Sylvain Koos, Jean-Baptiste Mouret, Stéphane Doncieux
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