InforLorV4, Main, Exploration, bibRecord, 000448

Decentralized Innovation Marking for Neural Controllers in Embodied Evolution

Identifieur interne : 000448 ( Main/Exploration ); précédent : 000447; suivant : 000449

Decentralized Innovation Marking for Neural Controllers in Embodied Evolution

Auteurs : I Aki Fernández Pérez [France] ; Amine Boumaza [France] ; François Charpillet [France]

Source :

RBID : Hal:hal-01212761

Abstract

We propose a novel innovation marking method for Neuro-Evolution of Augmenting Topologies in Embodied Evolutionary Robotics. This method does not rely on a centralized clock, which makes it well suited for the decentralized nature of EE where no central evolutionary process governs the adaptation of a team of robots exchanging messages locally. This method is inspired from event dating algorithms, based on logical clocks, that are used in distributed systems, where clock synchronization is not possible. We compare our method to odNEAT, an algorithm in which agents use local time clocks as innovation numbers, on two multi-robot learning tasks: navigation and item collection. Our experiments showed that the proposed method performs as well as odNEAT, with the added benefit that it does not rely on synchronization of clocks and is not affected by time drifts.

Url:

https://hal.inria.fr/hal-01212761

DOI: 10.1145/2739480.2754759

Affiliations:

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 001A74
to stream Hal, to step Curation: 001A74
to stream Hal, to step Checkpoint: 000426
to stream Main, to step Merge: 000448
to stream Main, to step Curation: 000448

Le document en format XML

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<front><div type="abstract" xml:lang="en">We propose a novel innovation marking method for Neuro-Evolution of Augmenting Topologies in Embodied Evolutionary Robotics. This method does not rely on a centralized clock, which makes it well suited for the decentralized nature of EE where no central evolutionary process governs the adaptation of a team of robots exchanging messages locally. This method is inspired from event dating algorithms, based on logical clocks, that are used in distributed systems, where clock synchronization is not possible. We compare our method to odNEAT, an algorithm in which agents use local time clocks as innovation numbers, on two multi-robot learning tasks: navigation and item collection. Our experiments showed that the proposed method performs as well as odNEAT, with the added benefit that it does not rely on synchronization of clocks and is not affected by time drifts.</div>
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{{Explor lien
   |wiki=    Wicri/Lorraine
   |area=    InforLorV4
   |flux=    Main
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   |clé=     Hal:hal-01212761
   |texte=   Decentralized Innovation Marking for Neural Controllers in Embodied Evolution
}}

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Decentralized Innovation Marking for Neural Controllers in Embodied Evolution

Decentralized Innovation Marking for Neural Controllers in Embodied Evolution

Source :

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri