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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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-06-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.672379/full |
| _version_ | 1818728737131200512 |
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| author | Karine Miras |
| author_facet | Karine Miras |
| author_sort | Karine Miras |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-12-17T22:34:45Z |
| format | Article |
| id | doaj.art-f6d55d1485ff483387c07418a9d42422 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-17T22:34:45Z |
| publishDate | 2021-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-f6d55d1485ff483387c07418a9d424222022-12-21T21:30:07ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-06-01810.3389/frobt.2021.672379672379Constrained by Design: Influence of Genetic Encodings on Evolved Traits of RobotsKarine MirasGenetic 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.https://www.frontiersin.org/articles/10.3389/frobt.2021.672379/fulllocalitybiasphenotypic traitsbehavioral traitsevolvable morphologiesevolvable robots |
| spellingShingle | Karine Miras Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots Frontiers in Robotics and AI locality bias phenotypic traits behavioral traits evolvable morphologies evolvable 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 | locality bias phenotypic traits behavioral traits evolvable morphologies evolvable robots |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.672379/full |
| work_keys_str_mv | AT karinemiras constrainedbydesigninfluenceofgeneticencodingsonevolvedtraitsofrobots |