Leni Le Goff

leni le goff

Dr Leni Le Goff

  

Date


7 results

Artificial evolution of robot bodies and control: on the interaction between evolution, individual and cultural learning

Journal Article
Hart, E., & Le Goff, L. K. (in press)
Artificial evolution of robot bodies and control: on the interaction between evolution, individual and cultural learning. Philosophical Transactions B: Biological Sciences,
We survey and reflect on evolutionary approaches to the joint optimisation of the body and control of a robot, in scenarios where a the goal is to find a design that maximises...

On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme

Conference Proceeding
Goff, L. K. L., & Hart, E. (2021)
On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme. In GECCO '21: Proceedings of the Genetic and Evolutionary Computation Conference Companion (1498-1502). https://doi.org/10.1145/3449726.3463156
We investigate a hierarchical scheme for the joint optimisation of robot bodies and controllers in a complex morphological space. An evolutionary algorithm optimises body-plan...

Evolution of Diverse, Manufacturable Robot Body Plans

Conference Proceeding
Buchanan, E., Le Goff, L., Hart, E., Eiben, A. E., De Carlo, M., Li, W., …Tyrrell, A. M. (2020)
Evolution of Diverse, Manufacturable Robot Body Plans. In 2020 IEEE Symposium Series on Computational Intelligence (SSCI) (2132-2139). https://doi.org/10.1109/SSCI47803.2020.9308434
Advances in rapid prototyping have opened up new avenues of research within Evolutionary Robotics in which not only controllers but also the body plans (morphologies) of robot...

Hardware Design for Autonomous Robot Evolution

Conference Proceeding
Hale, M. F., Angus, M., Buchanan, E., Li, W., Woolley, R., Le Goff, L. K., …Tyrrell, A. M. (2020)
Hardware Design for Autonomous Robot Evolution. In 2020 IEEE Symposium Series on Computational Intelligence (SSCI) (2140-2147). https://doi.org/10.1109/SSCI47803.2020.9308204
The long term goal of the Autonomous Robot Evolution (ARE) project is to create populations of physical robots, in which both the controllers and body plans are evolved. The t...

Bootstrapping artificial evolution to design robots for autonomous fabrication

Journal Article
Buchanan, E., Le Goff, L. K., Li, W., Hart, E., Eiben, A. E., De Carlo, M., …Tyrrell, A. M. (2020)
Bootstrapping artificial evolution to design robots for autonomous fabrication. Robotics, 9(4), https://doi.org/10.3390/robotics9040106
A long-term vision of evolutionary robotics is a technology enabling the evolution of entire autonomous robotic ecosystems that live and work for long periods in challenging a...

Sample and time efficient policy learning with CMA-ES and Bayesian Optimisation

Conference Proceeding
Le Goff, L. K., Buchanan, E., Hart, E., Eiben, A. E., Li, W., De Carlo, M., …Tyrrell, A. M. (2020)
Sample and time efficient policy learning with CMA-ES and Bayesian Optimisation. In ALIFE 2020: The 2020 Conference on Artificial Life. , (432-440). https://doi.org/10.1162/isal_a_00299
In evolutionary robot systems where morphologies and controllers of real robots are simultaneously evolved, it is clear that there is likely to be requirements to refine the i...

On Pros and Cons of Evolving Topologies with Novelty Search

Conference Proceeding
Le Goff, L. K., Hart, E., Coninx, A., & Doncieux, S. (2020)
On Pros and Cons of Evolving Topologies with Novelty Search. In ALIFE 2020: The 2020 Conference on Artificial Life. , (423-431). https://doi.org/10.1162/isal_a_00291
Novelty search was proposed as a means of circumventing deception and providing selective pressure towards novel behaviours to provide a path towards open-ended evolution. Ini...