![Page 1: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/1.jpg)
Evolution and RobotsHow to Create Artificial Brains for Machines
![Page 2: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/2.jpg)
Who am I?
• Robotics & AI PhD Student @ ISCTE-IUL
• Geek, Hacker, all the good stuff
• Sci-fi, Tech and Robotics enthusiast
• Metalhead and Petrolhead
![Page 3: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/3.jpg)
Overview
• Why Evolutionary Robotics (ER)?
• How Evolutionary Algorithms (EA) Work
• Challenges
• Cool projects
![Page 4: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/4.jpg)
Archytas’ pigeon (~400 BC)
![Page 5: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/5.jpg)
da Vinci’s Mechanical Knight
(1495)
![Page 6: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/6.jpg)
Good Old Fashion Artificial
Intelligence (and Robotics)
![Page 7: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/7.jpg)
Behavior Based
Robotics
![Page 8: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/8.jpg)
![Page 9: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/9.jpg)
![Page 10: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/10.jpg)
Evolutionary Robotics
•Self-organized behavior
•Adaptable controllers
![Page 11: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/11.jpg)
![Page 12: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/12.jpg)
Evolutionary Algorithms
![Page 13: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/13.jpg)
![Page 14: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/14.jpg)
![Page 15: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/15.jpg)
Evolutionary Algorithms
Fitness
Example: finding the best color for camouflage
![Page 16: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/16.jpg)
Evolutionary Algorithms
Mutation (and/or Recombination)
![Page 17: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/17.jpg)
![Page 18: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/18.jpg)
![Page 19: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/19.jpg)
![Page 20: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/20.jpg)
Artificial Neural Networks
![Page 21: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/21.jpg)
Neuron
Synapse
OutputInput
![Page 22: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/22.jpg)
0.42.0
Neuron activation function
-1.2
Connection/Synaptic weight
-0.7
![Page 23: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/23.jpg)
Sensors
Actuators
Inputs Outputs
![Page 24: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/24.jpg)
Left Light Sensor
Right Light Sensor
Right Motor
Left Motor
![Page 25: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/25.jpg)
Left Light Sensor
Right Light Sensor
Right Motor
Left Motor
![Page 26: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/26.jpg)
![Page 27: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/27.jpg)
Simulating Evolution in Robotics
• Robot Model
• Task
• Evaluation/Fitness Function
![Page 28: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/28.jpg)
![Page 29: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/29.jpg)
The Bootstrapping Problem
![Page 30: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/30.jpg)
The Reality Gap
![Page 31: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/31.jpg)
My Work
• (trying to) solve the Bootstrapping Problem and crossing the Reality Gap
• Hierarchical approach to the evolution of behaviors
![Page 32: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/32.jpg)
![Page 33: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/33.jpg)
![Page 34: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/34.jpg)
![Page 35: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/35.jpg)
![Page 36: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/36.jpg)
Wrapping It Up
• Pros
• Self-organization of behavior
• ANNs are tolerant to noise
• Adaptable controllers
• Cons
• Currently only works “in the lab”
• Simple robots & simple behaviors
• Controllers might be... unpredictable
![Page 37: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/37.jpg)
![Page 38: Evolution and Robots - How to Create Artificial Brains for Machines](https://reader034.vdocuments.us/reader034/viewer/2022051411/540564978d7f729e768b4c24/html5/thumbnails/38.jpg)
Questions/Discussion
@miguelduarte42