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Joshua Evan Auerbach

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Related publications (19)

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The Evolution of Complexity in Autonomous Robots

Joshua Evan Auerbach

Evolutionary robotics–the use of evolutionary algorithms to automate the production of autonomous robots–has been an active area of research for two decades. However, previous work in this domain has been limited by the simplicity of the evolved robots and ...

University of Vermont2013

On the relationship between environmental and morphological complexity in evolved robots

Joshua Evan Auerbach

The principles of embodied cognition dictate that intelligent behavior must arise out of the coupled dynamics of an agent's brain, body, and environment. While the relationship between controllers and morphologies (brains and bodies) has been investigated, ...

ACM Press2012

On the Relationship Between Environmental and Mechanical Complexity in Evolved Robots

Joshua Evan Auerbach

According to the principles of embodied cognition, intelligent behavior must arise out of the coupled dynamics of an agent's brain, body, and environment. This suggests that the morphological complexity of a robot should scale in relation to the complexity ...

MIT Press2012

Evolving Monolithic Robot Controllers through Incremental Shaping

Joshua Evan Auerbach

Evolutionary robotics has been shown to be an effective technique for generating robot behaviors that are difficult to derive analytically from the robot’s mechanics and task environment. Moreover, augmenting evolutionary algorithms with environmental scaf ...

Springer Berlin Heidelberg2011

Evolving Complete Robots with CPPN-NEAT: The Utility of Recurrent Connections

Joshua Evan Auerbach

This paper extends prior work using Compositional Pattern Producing Networks (CPPNs) as a generative encoding for the purpose of simultaneously evolving robot morphology and control. A method is presented for translating CPPNs into complete robots includin ...

ACM Press2011

Dynamic Resolution in the Co-Evolution of Morphology and Control

Joshua Evan Auerbach

Evolutionary robotics is a promising approach to overcoming the limitations and biases of human designers in producing control strategies for autonomous robots. However, most work in evolutionary robotics remains solely concerned with optimizing control st ...

MIT Press2010

Evolving CPPNs to grow three-dimensional physical structures

Joshua Evan Auerbach

The majority of work in the field of evolutionary robotics concerns itself with evolving control strategies for human designed or bio-mimicked robot morphologies. However, there are reasons why co-evolving morphology along with control may provide a better ...

ACM Press2010

How robot morphology and training order affect the learning of multiple behaviors

Joshua Evan Auerbach

Automatically synthesizing behaviors for robots with articulated bodies poses a number of challenges beyond those encountered when generating behaviors for simpler agents. One such challenge is how to optimize a controller that can orchestrate dynamic moti ...

IEEE2009

Evolution of functional specialization in a morphologically homogeneous robot

Joshua Evan Auerbach

A central tenet of embodied artificial intelligence is that intelligent behavior arises out of the coupled dynamics between an agent's body, brain and environment. It follows that the complexity of an agents's controller and morphology must match the compl ...

ACM Press2009