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1. Emergence of specialized Collective Behaviors in Evolving Heterogeneous Swarms

Author

van Diggelen, Fuda, De Carlo, Matteo, Cambier, Nicolas, Ferrante, Eliseo, and Eiben, A. E.

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence
Abstract

Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same genotype that is expressed differently for different classes of individuals, each specializing in one task. In this work, we evolve a swarm of simulated robots with phenotypic plasticity to study the emergence of specialized collective behavior during an emergent perception task. Phenotypic plasticity is realized in the form of heterogeneity of behavior by dividing the genotype into two components, with one different neural network controller associated to each component. The whole genotype, expressing the behavior of the whole group through the two components, is subject to evolution with a single fitness function. We analyse the obtained behaviors and use the insights provided by these results to design an online regulatory mechanism. Our experiments show three main findings: 1) The sub-groups evolve distinct emergent behaviors. 2) The effectiveness of the whole swarm depends on the interaction between the two sub-groups, leading to a more robust performance than with singular sub-group behavior. 3) The online regulatory mechanism enhances overall performance and scalability.

Published
2024

3. Self-organized Flocking in Three Dimensions

Author

Karagüzel, Tugay Alperen, van Diggelen, Fuda, Rincon, Andres Garcia, Ferrante, Eliseo, Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Hamann, Heiko, editor, Dorigo, Marco, editor, Pérez Cáceres, Leslie, editor, Reina, Andreagiovanni, editor, Kuckling, Jonas, editor, Kaiser, Tanja Katharina, editor, Soorati, Mohammad, editor, Hasselmann, Ken, editor, and Buss, Eduard, editor

Published
2024
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4. Environment induced emergence of collective behaviour in evolving swarms with limited sensing

Author

van Diggelen, Fuda, Luo, Jie, Karagüzel, Tugay Alperen, Cambier, Nicolas, Ferrante, Eliseo, and Eiben, A. E.

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence
Abstract

Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect result of the interactions between swarm members and the environment. In this paper we investigate whether an evolutionary approach can mitigate this problem. We consider a very challenging task where robots with limited sensing and communication abilities must follow the gradient of an environmental feature and use Differential Evolution to evolve a neural network controller for simulated robots. We conduct a systematic study to measure the flexibility and scalability of the method by varying the size of the arena and number of robots in the swarm. The experiments confirm the feasibility of our approach, the evolved robot controllers induced swarm behavior that solved the task. We found that solutions evolved under the harshest conditions (where the environmental clues were the weakest) were the most flexible and that there is a sweet spot regarding the swarm size. Furthermore, we observed collective motion of the swarm, showcasing truly emergent behavior that was not represented in- and selected for during evolution., Comment: (1) Three authors contributed equally to this research

Published
2022

5. Comparing lifetime learning methods for morphologically evolving robots

Author

van Diggelen, Fuda, Ferrante, Eliseo, and Eiben, A. E.

Subjects
Computer Science - Robotics, Computer Science - Neural and Evolutionary Computing, 68T40 (primary), 68W50 68T05 (Secondary)
Abstract

Evolving morphologies and controllers of robots simultaneously leads to a problem: Even if the parents have well-matching bodies and brains, the stochastic recombination can break this match and cause a body-brain mismatch in their offspring. We argue that this can be mitigated by having newborn robots perform a learning process that optimizes their inherited brain quickly after birth. We compare three different algorithms for doing this. To this end, we consider three algorithmic properties, efficiency, efficacy, and the sensitivity to differences in the morphologies of the robots that run the learning process., Comment: Associated code: https://github.com/fudavd/revolve/tree/learning

Published
2022

6. Learning Directed Locomotion in Modular Robots with Evolvable Morphologies

Author

Lan, Gongjin, De Carlo, Matteo, van Diggelen, Fuda, Tomczak, Jakub M., Roijers, Diederik M., and Eiben, A. E.

Subjects
Computer Science - Neural and Evolutionary Computing, Computer Science - Artificial Intelligence
Abstract

We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one fixed robot morphology we consider a test suite of different modular robots. This study is based on our interest in evolutionary robot systems where both morphologies and controllers evolve. In such a system, newborn robots have to learn to control their own body that is a random combination of the bodies of the parents. We apply and compare two learning algorithms, Bayesian optimization and HyperNEAT. The results of the experiments in simulation show that both methods successfully learn good controllers, but Bayesian optimization is more effective and efficient. We validate the best learned controllers by constructing three robots from the test suite in the real world and observe their fitness and actual trajectories. The obtained results indicate a reality gap that depends on the controllers and the shape of the robots, but overall the trajectories are adequate and follow the target directions successfully., Comment: 30 pages, 14 figures

Published
2020

7. Predicting responders to prone positioning in mechanically ventilated patients with COVID-19 using machine learning

Author

Dam, Tariq A., Roggeveen, Luca F., van Diggelen, Fuda, Fleuren, Lucas M., Jagesar, Ameet R., Otten, Martijn, de Vries, Heder J., Gommers, Diederik, Cremer, Olaf L., Bosman, Rob J., Rigter, Sander, Wils, Evert-Jan, Frenzel, Tim, Dongelmans, Dave A., de Jong, Remko, Peters, Marco A. A., Kamps, Marlijn J. A., Ramnarain, Dharmanand, Nowitzky, Ralph, Nooteboom, Fleur G. C. A., de Ruijter, Wouter, Urlings-Strop, Louise C., Smit, Ellen G. M., Mehagnoul-Schipper, D. Jannet, Dormans, Tom, de Jager, Cornelis P. C., Hendriks, Stefaan H. A., Achterberg, Sefanja, Oostdijk, Evelien, Reidinga, Auke C., Festen-Spanjer, Barbara, Brunnekreef, Gert B., Cornet, Alexander D., van den Tempel, Walter, Boelens, Age D., Koetsier, Peter, Lens, Judith, Faber, Harald J., Karakus, A., Entjes, Robert, de Jong, Paul, Rettig, Thijs C. D., Arbous, Sesmu, Vonk, Sebastiaan J. J., Machado, Tomas, Herter, Willem E., de Grooth, Harm-Jan, Thoral, Patrick J., Girbes, Armand R. J., Hoogendoorn, Mark, and Elbers, Paul W. G.

Published
2022
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9. Comparing Robot Controller Optimization Methods on Evolvable Morphologies.

Author

van Diggelen, Fuda, Ferrante, Eliseo, and Eiben, A. E.

Subjects
*DIFFERENTIAL evolution, *WALKING speed, *MORPHOLOGY, *LEARNING, *MOBILE robots, *ROBOTS
Abstract

In this paper, we compare Bayesian Optimization, Differential Evolution, and an Evolution Strategy employed as a gait-learning algorithm in modular robots. The motivational scenario is the joint evolution of morphologies and controllers, where "newborn" robots also undergo a learning process to optimize their inherited controllers (without changing their bodies). This context raises the question: How do gait-learning algorithms compare when applied to various morphologies that are not known in advance (and thus need to be treated as without priors)? To answer this question, we use a test suite of twenty different robot morphologies to evaluate our gait-learners and compare their efficiency, efficacy, and sensitivity to morphological differences. The results indicate that Bayesian Optimization and Differential Evolution deliver the same solution quality (walking speed for the robot) with fewer evaluations than the Evolution Strategy. Furthermore, the Evolution Strategy is more sensitive for morphological differences (its efficacy varies more between different morphologies) and is more subject to luck (repeated runs on the same morphology show greater variance in the outcomes). [ABSTRACT FROM AUTHOR]

Published
2024
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11. Large-scale ICU data sharing for global collaboration: the first 1633 critically ill COVID-19 patients in the Dutch Data Warehouse

Author

Fleuren, Lucas M., de Bruin, Daan P., Tonutti, Michele, Lalisang, Robbert C.A., Elbers, Paul W.G., Gommers, Diederik, Cremer, Olaf L., Bosman, Rob J., Vonk, Sebastiaan J.J., Fornasa, Mattia, Machado, Tomas, Dam, Tariq, de Keizer, Nicolet F., Raeissi, Masoume, van der Meer, Nardo J.M., Rigter, Sander, Wils, Evert Jan, Frenzel, Tim, Dongelmans, Dave A., de Jong, Remko, Peters, Marco, Kamps, Marlijn J.A., Ramnarain, Dharmanand, Nowitzky, Ralph, Nooteboom, Fleur G.C.A., de Ruijter, Wouter, Urlings-Strop, Louise C., Smit, Ellen G.M., Mehagnoul-Schipper, Jannet, Dormans, Tom, Houwert, Taco, Hovenkamp, Hidde, Londono, Roberto Noorduijn, Quintarelli, Davide, Scholtemeijer, Martijn G., de Beer, Aletta A., Ercole, Ari, van der Schaar, Mihaela, Beudel, Martijn, Hoogendoorn, Mark, Girbes, Armand R.J., Herter, Willem E., Thoral, Patrick J., Roggeveen, Luca, van Diggelen, Fuda, el Hassouni, Ali, Guzman, David Romero, Bhulai, Sandjai, Ouweneel, Dagmar, Driessen, Ronald, Peppink, Jan, de Grooth, H. J., Zijlstra, G. J., van Tienhoven, A. J., van der Heiden, Evelien, Spijkstra, Jan Jaap, van der Spoel, Hans, de Man, Angelique, Klausch, Thomas, de Vries, Heder, Neree tot Babberich, Michael de, Thijssens, Olivier, Wagemakers, Lot, Berend, Julie, Silva, Virginia Ceni, Kullberg, Bob, Heunks, Leo, Juffermans, Nicole, Slooter, Arjan, Rettig, Thijs C.D., Reuland, M. C., van Manen, Laura, Montenij, Leon, van Bommel, Jasper, van den Berg, Roy, van Geest, Ellen, Hana, Anisa, Simsek, Suat, van den Bogaard, B., Pickkers, Peter, van der Heiden, Pim, van Gemeren, Claudia, Meinders, Arend Jan, de Bruin, Martha, Rademaker, Emma, van Osch, Frits, de Kruif, Martijn, Hendriks, Stefaan H.A., Schroten, Nicolas, Boelens, Age D., Arnold, Klaas Sierk, Karakus, A., Fijen, J. W., Festen-Spanjer, Barbara, Achterberg, Sefanja, Lens, Judith, van Koesveld, Jacomar, van den Tempel, Walter, Simons, Koen S., de Jager, Cornelis P.C., Oostdijk, Evelien, Labout, Joost, van der Gaauw, Bart, Reidinga, Auke C., Koetsier, Peter, Kuiper, Michael, Cornet, Alexander D., Beishuizen, Albertus, de Jong, Paul, Geutjes, Dennis, Faber, Harald J., Lutisan, Johan, Brunnekreef, Gert, Gemert, Ankie W.M.M.Koopman van, Entjes, Robert, van den Akker, Remko, Simons, Bram, Rijkeboer, A. A., Arbous, Sesmu, Aries, Marcel, van den Oever, Niels C.Gritters, van Tellingen, Martijn, Intensive Care, Medical Informatics, APH - Methodology, APH - Quality of Care, Intensive Care Medicine, Neurology, ANS - Neurodegeneration, AII - Inflammatory diseases, APH - Digital Health, Artificial intelligence, Network Institute, Computational Intelligence, Artificial Intelligence (section level), Mathematics, Intensive care medicine, VU University medical center, ACS - Microcirculation, ACS - Diabetes & metabolism, Epidemiologie, RS: NUTRIM - R3 - Respiratory & Age-related Health, RS: MHeNs - R1 - Cognitive Neuropsychiatry and Clinical Neuroscience, and MUMC+: MA Medische Staf IC (9)

Subjects
2019-20 coronavirus outbreak, Letter, Coronavirus disease 2019 (COVID-19), Critically ill, business.industry, Information Dissemination, Critical Illness, MEDLINE, lnfectious Diseases and Global Health Radboud Institute for Molecular Life Sciences [Radboudumc 4], COVID-19, Critical Care and Intensive Care Medicine, Data warehouse, Data sharing, Intensive Care Units, SDG 3 - Good Health and Well-being, Data Warehousing, Scale (social sciences), Medicine, Humans, Operations management, business, Netherlands
Abstract

Contains fulltext : 238662.pdf (Publisher’s version ) (Closed access)

Published
2021
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13. Predicting responders to prone positioning in mechanically ventilated patients with COVID-19 using machine learning

Author

Dam, Tariq A; https://orcid.org/0000-0003-1631-2378, Roggeveen, Luca F, van Diggelen, Fuda, et al, Anisa, Hana, Dam, Tariq A; https://orcid.org/0000-0003-1631-2378, Roggeveen, Luca F, van Diggelen, Fuda, et al, and Anisa, Hana

Abstract

Background: For mechanically ventilated critically ill COVID-19 patients, prone positioning has quickly become an important treatment strategy, however, prone positioning is labor intensive and comes with potential adverse effects. Therefore, identifying which critically ill intubated COVID-19 patients will benefit may help allocate labor resources. Methods: From the multi-center Dutch Data Warehouse of COVID-19 ICU patients from 25 hospitals, we selected all 3619 episodes of prone positioning in 1142 invasively mechanically ventilated patients. We excluded episodes longer than 24 h. Berlin ARDS criteria were not formally documented. We used supervised machine learning algorithms Logistic Regression, Random Forest, Naive Bayes, K-Nearest Neighbors, Support Vector Machine and Extreme Gradient Boosting on readily available and clinically relevant features to predict success of prone positioning after 4 h (window of 1 to 7 h) based on various possible outcomes. These outcomes were defined as improvements of at least 10% in PaO2/FiO2 ratio, ventilatory ratio, respiratory system compliance, or mechanical power. Separate models were created for each of these outcomes. Re-supination within 4 h after pronation was labeled as failure. We also developed models using a 20 mmHg improvement cut-off for PaO2/FiO2 ratio and using a combined outcome parameter. For all models, we evaluated feature importance expressed as contribution to predictive performance based on their relative ranking. Results: The median duration of prone episodes was 17 h (11-20, median and IQR, N = 2632). Despite extensive modeling using a plethora of machine learning techniques and a large number of potentially clinically relevant features, discrimination between responders and non-responders remained poor with an area under the receiver operator characteristic curve of 0.62 for PaO2/FiO2 ratio using Logistic Regression, Random Forest and XGBoost. Feature importance was inconsistent between models for diff

Published
2022

14. Additional file 1 of Predicting responders to prone positioning in mechanically ventilated patients with COVID-19 using machine learning

Author

Dam, Tariq A., Roggeveen, Luca F., van Diggelen, Fuda, Fleuren, Lucas M., Jagesar, Ameet R., Otten, Martijn, de Vries, Heder J., Gommers, Diederik, Cremer, Olaf L., Bosman, Rob J., Rigter, Sander, Wils, Evert-Jan, Frenzel, Tim, Dongelmans, Dave A., de Jong, Remko, Peters, Marco A. A., Kamps, Marlijn J. A., Ramnarain, Dharmanand, Nowitzky, Ralph, Nooteboom, Fleur G. C. A., de Ruijter, Wouter, Urlings-Strop, Louise C., Smit, Ellen G. M., Mehagnoul-Schipper, D. Jannet, Dormans, Tom, de Jager, Cornelis P. C., Hendriks, Stefaan H. A., Achterberg, Sefanja, Oostdijk, Evelien, Reidinga, Auke C., Festen-Spanjer, Barbara, Brunnekreef, Gert B., Cornet, Alexander D., van den Tempel, Walter, Boelens, Age D., Koetsier, Peter, Lens, Judith, Faber, Harald J., Karakus, A., Entjes, Robert, de Jong, Paul, Rettig, Thijs C. D., Arbous, Sesmu, Vonk, Sebastiaan J. J., Machado, Tomas, Herter, Willem E., de Grooth, Harm-Jan, Thoral, Patrick J., Girbes, Armand R. J., Hoogendoorn, Mark, and Elbers, Paul W. G.

Abstract

Additional file 1: Table S1. Parameter bounds. Table S2. Parameter categories. Table S3. Feature derivations. Table S4. Included features. Table S5. Hyper parameter optimization. Table S6. Feature Importance Metrics. Table S7. Patient characteristics. Table S8. ROC AUC score. Table S9. F1-score. Table S10. Sensitivity Analysis Minimal Prone Duration. Table S11. Sensitivity Analysis Cut-off Values. Table S12. Ranked Feature Importance. Table S13. Feature Importance Values. Figure S1. PaO2/FiO2 ratio difference in mmHg over time after starting prone position. Prone positions which continued for longer than 24 hours were filtered out.

Published
2022
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15. Risk factors for adverse outcomes during mechanical ventilation of 1152 COVID-19 patients: a multicenter machine learning study with highly granular data from the Dutch Data Warehouse

Author

Fleuren, Lucas M., Tonutti, Michele, de Bruin, Daan P., Lalisang, Robbert C.A., Dam, Tariq A., Gommers, Diederik, Cremer, Olaf L., Bosman, Rob J., Vonk, Sebastiaan J.J., Fornasa, Mattia, Machado, Tomas, van der Meer, Nardo J.M., Rigter, Sander, Wils, Evert Jan, Frenzel, Tim, Dongelmans, Dave A., de Jong, Remko, Peters, Marco, Kamps, Marlijn J.A., Ramnarain, Dharmanand, Nowitzky, Ralph, Nooteboom, Fleur G.C.A., de Ruijter, Wouter, Urlings-Strop, Louise C., Smit, Ellen G.M., Mehagnoul-Schipper, D. Jannet, Dormans, Tom, de Jager, Cornelis P.C., Hendriks, Stefaan H.A., Oostdijk, Evelien, Reidinga, Auke C., Festen-Spanjer, Barbara, Brunnekreef, Gert, Cornet, Alexander D., van den Tempel, Walter, Boelens, Age D., Koetsier, Peter, Lens, Judith, Achterberg, Sefanja, Faber, Harald J., Karakus, A., Beukema, Menno, Entjes, Robert, de Jong, Paul, Houwert, Taco, Hovenkamp, Hidde, Noorduijn Londono, Roberto, Quintarelli, Davide, Scholtemeijer, Martijn G., de Beer, Aletta A., Cinà, Giovanni, Beudel, Martijn, de Keizer, Nicolet F., Hoogendoorn, Mark, Girbes, Armand R.J., Herter, Willem E., Elbers, Paul W.G., Thoral, Patrick J., Rettig, Thijs C.D., Reuland, M. C., van Manen, Laura, Montenij, Leon, van Bommel, Jasper, van den Berg, Roy, van Geest, Ellen, Hana, Anisa, Boersma, W. G., van den Bogaard, B., Pickkers, Peter, van der Heiden, Pim, van Gemeren, Claudia C.W., Meinders, Arend Jan, de Bruin, Martha, Rademaker, Emma, van Osch, Frits H.M., de Kruif, Martijn, Schroten, Nicolas, Arnold, Klaas Sierk, Fijen, J. W., van Koesveld, Jacomar J.M., Simons, Koen S., Labout, Joost, van de Gaauw, Bart, Kuiper, Michael, Beishuizen, Albertus, Geutjes, Dennis, Lutisan, Johan, Grady, Bart P.X., van den Akker, Remko, Simons, Bram, Rijkeboer, A. A., Arbous, Sesmu, Aries, Marcel, van den Oever, Niels C.Gritters, van Tellingen, Martijn, Dijkstra, Annemieke, van Raalte, Rutger, Roggeveen, Luca, van Diggelen, Fuda, Hassouni, Ali el, Guzman, David Romero, Bhulai, Sandjai, Ouweneel, Dagmar, Driessen, Ronald, Peppink, Jan, de Grooth, H. J., Zijlstra, G. J., van Tienhoven, A. J., van der Heiden, Evelien, Spijkstra, Jan Jaap, van der Spoel, Hans, de Man, Angelique, Klausch, Thomas, de Vries, Heder, de Neree tot Babberich, Michael, Thijssens, Olivier, Wagemakers, Lot, van der Pol, Hilde G.A., Hendriks, Tom, Berend, Julie, Silva, Virginia Ceni, Kullberg, Bob, Heunks, Leo, Juffermans, Nicole, Slooter, Arjan, Intensive care medicine, ACS - Diabetes & metabolism, ACS - Microcirculation, Amsterdam Cardiovascular Sciences, Neurology, AII - Infectious diseases, AII - Cancer immunology, CCA - Cancer biology and immunology, AII - Inflammatory diseases, Epidemiology and Data Science, APH - Methodology, ACS - Pulmonary hypertension & thrombosis, Intensive Care Medicine, APH - Quality of Care, Medical Informatics, Graduate School, Nephrology, Cardiology, Gastroenterology and Hepatology, Amsterdam Gastroenterology Endocrinology Metabolism, APH - Digital Health, Artificial intelligence, Network Institute, Computational Intelligence, Artificial Intelligence (section level), Mathematics, Intensive Care, Epidemiologie, RS: NUTRIM - R3 - Respiratory & Age-related Health, RS: MHeNs - R1 - Cognitive Neuropsychiatry and Clinical Neuroscience, MUMC+: MA Medische Staf IC (9), and Internal medicine

Subjects
Icu patients, Coronavirus disease 2019 (COVID-19), Adverse outcomes, medicine.medical_treatment, Critical Care and Intensive Care Medicine, Machine learning, computer.software_genre, law.invention, 03 medical and health sciences, 0302 clinical medicine, SDG 3 - Good Health and Well-being, law, SCORE, medicine, 030212 general & internal medicine, Risk factor, Research Articles, Mechanical ventilation, business.industry, RC86-88.9, Other Research Radboud Institute for Health Sciences [Radboudumc 0], COVID-19, 030208 emergency & critical care medicine, Medical emergencies. Critical care. Intensive care. First aid, Intensive care unit, Data warehouse, Data extraction, Mortality prediction, Risk factors, Artificial intelligence, business, computer
Abstract

Background The identification of risk factors for adverse outcomes and prolonged intensive care unit (ICU) stay in COVID-19 patients is essential for prognostication, determining treatment intensity, and resource allocation. Previous studies have determined risk factors on admission only, and included a limited number of predictors. Therefore, using data from the highly granular and multicenter Dutch Data Warehouse, we developed machine learning models to identify risk factors for ICU mortality, ventilator-free days and ICU-free days during the course of invasive mechanical ventilation (IMV) in COVID-19 patients. Methods The DDW is a growing electronic health record database of critically ill COVID-19 patients in the Netherlands. All adult ICU patients on IMV were eligible for inclusion. Transfers, patients admitted for less than 24 h, and patients still admitted at time of data extraction were excluded. Predictors were selected based on the literature, and included medication dosage and fluid balance. Multiple algorithms were trained and validated on up to three sets of observations per patient on day 1, 7, and 14 using fivefold nested cross-validation, keeping observations from an individual patient in the same split. Results A total of 1152 patients were included in the model. XGBoost models performed best for all outcomes and were used to calculate predictor importance. Using Shapley additive explanations (SHAP), age was the most important demographic risk factor for the outcomes upon start of IMV and throughout its course. The relative probability of death across age values is visualized in Partial Dependence Plots (PDPs), with an increase starting at 54 years. Besides age, acidaemia, low P/F-ratios and high driving pressures demonstrated a higher probability of death. The PDP for driving pressure showed a relative probability increase starting at 12 cmH2O. Conclusion Age is the most important demographic risk factor of ICU mortality, ICU-free days and ventilator-free days throughout the course of invasive mechanical ventilation in critically ill COVID-19 patients. pH, P/F ratio, and driving pressure should be monitored closely over the course of mechanical ventilation as risk factors predictive of these outcomes.

Published
2021
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17. Comparing lifetime learning methods for morphologically evolving robots

Author

Van Diggelen, Fuda, Ferrante, E., Eiben, A. E., Van Diggelen, Fuda, Ferrante, E., and Eiben, A. E.

Abstract

The joint evolution of morphologies and controllers of robots leads to a problem: Even if the parents have well-matching bodies and brains, the stochastic recombination can break this match and cause a body-brain mismatch in their offspring. This can be mitigated by having newborn robots perform a learning process that optimizes their inherited brain quickly after birth. An adequate learning method should work on all possible robot morphologies and be efficient. In this paper we apply Bayesian Optimization and Differential Evolution as learning algorithms and compare them on a test suite of different robot bodies.

Published
2021
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18. The Influence of Robot Traits and Evolutionary Dynamics on the Reality Gap

Author

van Diggelen, Fuda, Ferrante, Eliseo, Harrak, Nihed, Luo, Jie, Zeeuwe, Daan, and Eiben, A. E.

Abstract

The elephant in the room for evolutionary robotics is the reality gap. In the history of the field, several studies investigated this phenomenon on fixed robot morphologies where only the controllers evolved. This article addresses the reality gap in a wider context, in a system where both morphologies and controllers evolve. In this context, the morphology of the robots becomes a variable with a currently unknown influence. To examine this influence, we construct a test suite of robots with various morphologies and evolve their controllers for an effective gait. Comparing the simulated and the real-world performance of evolved controllers sampled at different generations during the evolutionary process, we gain new insights into the factors that influence the reality gap.

Published
2023
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20. Adaptive Control for Evolutionary Robotics: And its effect on learning directed locomotion

Author

van Diggelen, Fuda (author) and van Diggelen, Fuda (author)

Abstract

This thesis is motivated by evolutionary robot systems where robot bodies and brains evolve simultaneously. In such a robot system, `birth' must be followed by `infant learning' by a learning method that works for various morphologies evolution may produce. Here we address the task of directed locomotion in modular robots with controllers based on Central Pattern Generators. We present a bio-inspired adaptive feedback mechanism that uses a forward model and an inverse model that can be learned on-the-fly. We compare two versions (a simple and a sophisticated one) of this concept to a traditional (open-loop) controller using Bayesian Optimization as a learning algorithm. The experimental results show that the sophisticated version outperforms the simple one and the traditional controller. It leads to improvement in performance and more robust controllers that cope better with noise.

Published
2020

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