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Accelerating Evolution of Legged Locomotion Controllers with Morphological and Environmental Scaffolding

Explore the effects of morphological and environmental scaffolding on the evolution of successful legged locomotion controllers. Discover the optimal combination and sequencing of scaffolding to enhance robustness and accelerate controller evolution.

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Accelerating Evolution of Legged Locomotion Controllers with Morphological and Environmental Scaffolding

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  1. No Morph, No Env Scaffolding

  2. 1 2 3 4 5 6 No Morph, No Env Scaffolding Morph, No Env Scaffolding

  3. 1 2 3 4 5 6 No Morph, No Env Scaffolding Morph, No Env Scaffolding No Morph, Env Scaffolding

  4. 1 2 3 4 5 6 No Morph, No Env Scaffolding Morph, No Env Scaffolding No Morph, Env Scaffolding Morph, Then Env Scaffolding

  5. 1 2 3 4 5 6 No Morph, No Env Scaffolding Morph, No Env Scaffolding No Morph, Env Scaffolding Morph, Then Env Scaffolding Env, Then Morph Scaffolding

  6. 1 2 3 No Morph, Env Scaffolding 4 Morph, Then Env Scaffolding 5 6 No Morph, No Env Scaffolding Morph, No Env Scaffolding Env, Then Morph Scaffolding Alternate Morph and Env Scaffolding E M E M E M

  7. Relative success rates of the six regimes. Morph, Then Env Scaffolding No Morph, Env Scaffolding

  8. Relative time-to-completion of the six regimes. Morph, Then Env Scaffolding No Morph, Env Scaffolding

  9. Regime 4: Morph, then Environmental Scaffolding Morph, Then Env Scaffolding

  10. Scaffolding rates for regime 3 Fitness Env phase Morph phase No Morph, Env Scaffolding

  11. Scaffolding rates for regime 4 Morph, Then Env Scaffolding Fitness Env phase Morph phase No Morph, Env Scaffolding

  12. Conclusions Morph, Then Env Scaffolding Bongard (2011), PNAS: For legged locomotion (for both quadrupedal and hexapedal robots), morphological scaffolding accelerates the evolution of successful controllers; these controllers are more robust than those evolved without scaffolding. Bongard (2011), GECCO: For legged locomotion (for quadrupedal robots), morphological and environmental scaffolding can synergize, as long as they are combined in the right way: morphological scaffolding must precede environmental scaffolding.

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