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A Robot that Autonomously Improves Skills by Evolving Computational Graphs

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Riano, Lorenzo and McGinnity, TM (2012) A Robot that Autonomously Improves Skills by Evolving Computational Graphs. In: 2012 IEEE Congress on Evolutionary Computation, Brisbane, Australia. IEEE Press. 8 pp. [Conference contribution]

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Abstract

We propose an evolutionary algorithm to au- tonomously improve the performances of a robotics skill. The algorithm extends a previously proposed graphical evolutionary skills building approach to allow a robot to autonomously collect use cases where a skill fails and use them to improve the skill. Here we define a computational graph as a generic model to hierarchically represent skills and to modify them. The computational graph makes use of embedded neural networks to create generic skills. We tested our proposed algorithm on a real robot implementing a “move to reach” action. Four experiments show the evolution of the computational graph as it is adapted to solve increasingly complex problems.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:21537
Deposited By:Dr Lorenzo Riano
Deposited On:10 Jul 2012 11:39
Last Modified:10 Jul 2012 11:39

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