Severe Damage Recovery in Evolving Soft Robots through Differentiable Programming

• URL: http://arxiv.org/abs/2206.06674v1
• Date: Tue, 14 Jun 2022 08:05:42 GMT
• Title: Severe Damage Recovery in Evolving Soft Robots through Differentiable Programming
• Authors: Kazuya Horibe, Kathryn Walker, Rasmus Berg Palm, Shyam Sudhakaran, Sebastian Risi
• Abstract summary: We present a system based on neural cellular automata, in which locomoting robots are evolved and then given the ability to regenerate their morphology from damage through gradient-based training. The resulting neural cellular automata are able to grow virtual robots capable of regaining more than 80% of their functionality, even after severe types of morphological damage.
• Score: 7.198483427085636
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: Biological systems are very robust to morphological damage, but artificial systems (robots) are currently not. In this paper we present a system based on neural cellular automata, in which locomoting robots are evolved and then given the ability to regenerate their morphology from damage through gradient-based training. Our approach thus combines the benefits of evolution to discover a wide range of different robot morphologies, with the efficiency of supervised training for robustness through differentiable update rules. The resulting neural cellular automata are able to grow virtual robots capable of regaining more than 80\% of their functionality, even after severe types of morphological damage.

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