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Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots
Genetic encodings and their particular properties are known to have a strong influence on the success of evolutionary systems. However, the literature has widely focused on studying the effects that encodings have on performance, i.e., fitness-oriented studies. Notably, this anchoring of the literat...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Frontiers Media S.A.
2021
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8239187/ https://www.ncbi.nlm.nih.gov/pubmed/34212008 http://dx.doi.org/10.3389/frobt.2021.672379 |
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author | Miras, Karine |
author_facet | Miras, Karine |
author_sort | Miras, Karine |
collection | PubMed |
description | Genetic encodings and their particular properties are known to have a strong influence on the success of evolutionary systems. However, the literature has widely focused on studying the effects that encodings have on performance, i.e., fitness-oriented studies. Notably, this anchoring of the literature to performance is limiting, considering that performance provides bounded information about the behavior of a robot system. In this paper, we investigate how genetic encodings constrain the space of robot phenotypes and robot behavior. In summary, we demonstrate how two generative encodings of different nature lead to very different robots and discuss these differences. Our principal contributions are creating awareness about robot encoding biases, demonstrating how such biases affect evolved morphological, control, and behavioral traits, and finally scrutinizing the trade-offs among different biases. |
format | Online Article Text |
id | pubmed-8239187 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-82391872021-06-30 Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots Miras, Karine Front Robot AI Robotics and AI Genetic encodings and their particular properties are known to have a strong influence on the success of evolutionary systems. However, the literature has widely focused on studying the effects that encodings have on performance, i.e., fitness-oriented studies. Notably, this anchoring of the literature to performance is limiting, considering that performance provides bounded information about the behavior of a robot system. In this paper, we investigate how genetic encodings constrain the space of robot phenotypes and robot behavior. In summary, we demonstrate how two generative encodings of different nature lead to very different robots and discuss these differences. Our principal contributions are creating awareness about robot encoding biases, demonstrating how such biases affect evolved morphological, control, and behavioral traits, and finally scrutinizing the trade-offs among different biases. Frontiers Media S.A. 2021-06-15 /pmc/articles/PMC8239187/ /pubmed/34212008 http://dx.doi.org/10.3389/frobt.2021.672379 Text en Copyright © 2021 Miras. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Miras, Karine Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots |
title | Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots |
title_full | Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots |
title_fullStr | Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots |
title_full_unstemmed | Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots |
title_short | Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots |
title_sort | constrained by design: influence of genetic encodings on evolved traits of robots |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8239187/ https://www.ncbi.nlm.nih.gov/pubmed/34212008 http://dx.doi.org/10.3389/frobt.2021.672379 |
work_keys_str_mv | AT miraskarine constrainedbydesigninfluenceofgeneticencodingsonevolvedtraitsofrobots |