论文标题
使用塑料化机器人演变的环境调节
Environmental regulation using Plasticoding for the evolution of robots
论文作者
论文摘要
进化机器人系统通常会通过选择间接地受环境的特性影响。在本文中，我们介绍并调查了一个环境也具有直接影响的系统：通过调节。我们提出了一种新型的机器人编码方法，其中基因型编码多种可能的表型，并且机器人的化身取决于在其生命的确定时刻发生的环境条件。这意味着机器人的形态，控制器和行为可以根据环境改变。重要的是，根据其经验丰富的环境刺激，这种发展过程可以在机器人寿命的任何时刻发生。我们提供了经验证明，对实验结果的分析表明，塑料编码改善了适应性（任务性能），同时导致不同进化的形态，控制器和行为。
Evolutionary robot systems are usually affected by the properties of the environment indirectly through selection. In this paper, we present and investigate a system where the environment also has a direct effect: through regulation. We propose a novel robot encoding method where a genotype encodes multiple possible phenotypes, and the incarnation of a robot depends on the environmental conditions taking place in a determined moment of its life. This means that the morphology, controller, and behavior of a robot can change according to the environment. Importantly, this process of development can happen at any moment of a robot lifetime, according to its experienced environmental stimuli. We provide an empirical proof-of-concept, and the analysis of the experimental results shows that Plasticoding improves adaptation (task performance) while leading to different evolved morphologies, controllers, and behaviour.
