Physical Scaffolding Accelerates the Evolution of Robot Behavior

@article{Buckingham2017PhysicalSA,
  title={Physical Scaffolding Accelerates the Evolution of Robot Behavior},
  author={David Buckingham and Josh C. Bongard},
  journal={Artificial Life},
  year={2017},
  volume={23},
  pages={351-373}
}
In some evolutionary robotics experiments, evolved robots are transferred from simulation to reality, while sensor/motor data flows back from reality to improve the next transferral. We envision a generalization of this approach: a simulation-to-reality pipeline. In this pipeline, increasingly embodied agents flow up through a sequence of increasingly physically realistic simulators, while data flows back down to improve the next transferral between neighboring simulators; physical reality is… CONTINUE READING