[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-117119-en":3,"doc-seo-117119-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":27,"seo_description":14,"update_tm":28,"read_time":29},117119,4398048949847,"Eliana","https://ap-avatar.wpscdn.com/avatar/400002536579ef2da7f?_k=1778318612642679267",8,"Research & Report","Evolutionary Machine Learning in Robotics - Chapter Overview","Survey of evolutionary machine learning (EML) applications to robotics, outlining what can be optimized and the aims and constraints that shape these problems. The chapter reviews how evolutionary computation improves artificial neural network controllers, organizing methods by task type, solution representation, and evolutionary algorithm. It also covers evolutionary optimization of robot morphology, including approaches that co-optimize morphology and controller. Finally, it addresses the reality gap between simulation performance and real-world behavior.","Evolutionary Machine Learning in Robotics  \nEric Medvet, Giorgia Nadizar, Federico Pigozzi, and Erica Salvato  \nUniversity of Trieste, Trieste, Italy  \nemedvet@units.it, {giorgia.nadizar, federico.pigozzi}@phd.units.it, erica .salvato@dia .units .it  \nAbstract. In this chapter, we survey the most significant applications of EML to robotics. We first highlight the salient characteristics of the field in terms of what can be optimized and with what aims and constraints. Then we survey the large literature concerning the optimization, by the means of evolutionary computation, of artificial neural networks, traditionally considered a form of machine learning, used for controlling the robots: for easing the comprehension, we categorize the various approaches along different axes, as, e.g., the robotic task, the representation of the solutions, the evolutionary algorithm being employed. We then survey the many usages of evolutionary computation for optimizing the morphology of the robots, including those that tackle the challenging task of optimizing the morphology and the controller at the same time.  \nFinally, we discuss the reality gap problem, that consists in a potential mismatch between the quality of solutions found in simulations and their quality observed in reality.  \n1 Robot optimization and its peculiarities  \nThe field of robotics involves the design, construction, and operation of robots. In this chapter, we define as robot any agent, be it real or simulated, which can interact with an environment. We require said interaction to be bidirectional, meaning that the agent can affect the environment with its actions, and is in turn affected by the environment, either through sensory perceptions or simple mechanical effects.  \nA robot is defined by its body and its controller, which are deeply interconnected. The controller (often called brain) is responsible for making decisions concerning the actions to be made. Oftentimes, such decisions consist of computing control values which are sent to the body, which then actuates them. The body of the agent involves all the physical aspects of the robot, such as its external aspect, its constituting materials, or its modules and connecting parts (joints) . In addition, the body is responsible for actuating actions, and also for proprioception and environmental awareness.  \nIn general, the actions of a robot are driven towards the achievement of a goal, which we define as the task of the agent. Within this paradigm, it is possible, and often desirable, to optimize the agent for a task, that is, achieving a design that enables the robot to most successfully accomplish its goal. However, due  \n2 E. Medvet et al.  \nto the complexity of the design process, given the usually extremely vast search space, handcrafting satisfying solutions is practically unfeasible. Therefore, automatic optimization techniques play a fundamental role in assisting designers in the achievement of successful robots. Among those, evolutionary algorithms (EAs) stand out for their effectiveness and efficiency in exploring the solution space, yielding to extremely successful results with relatively little human effort. In particular, in most cases, they only require to define a suitable measure of quality (i.e., the fitness) of the solution under optimization (i.e., the robot): while defining such fitness is not always easy [37], it is in general much easier than attempting to manually design the solution.  \nThe application of evolutionary computation (EC) to robotics constitutes the field of evolutionary robotics (ER) [39, 132]: in a broad sense, ER consists in optimizing the robot (or some of its parts) for a given task, using EC. In this chapter, we deal with EML in robotics, which can be considered the subfield of ER where ML is somehow involved. As a matter of fact, the vast majority of EML applications to robotics deal with the optimization of a robot controller which is based on an artificial neural networ","cbCait8by8fufXYC","https://ap.wps.com/l/cbCait8by8fufXYC","pdf",4891631,1,48,"English","en",105,"# Robot optimization and its peculiarities\n## Robot definition and design components\n## Task-driven optimization and fitness\n# Evolutionary machine learning in robotics\n## Evolutionary robotics and controller optimization\n## Morphology and co-optimization\n## Reality gap problem","[{\"question\":\"What are the main aspects of a robot optimized using EML?\",\"answer\":\"EML in robotics typically optimizes the controller, the robot body (morphology), or both. Some approaches also target more specialized aspects, depending on the problem setup.\"},{\"question\":\"How does the chapter organize evolutionary optimization methods for neural network controllers?\",\"answer\":\"It categorizes approaches along axes such as the robotic task, the representation of solutions, and the evolutionary algorithm employed to search for effective controller parameters.\"},{\"question\":\"What is the reality gap problem in evolutionary robotics?\",\"answer\":\"The reality gap arises when solution quality in simulations does not translate to similar quality in the real world, due to differences between modeled and physical conditions.\"}]","Evolutionary Machine Learning in Robotics - Chapter Overview | PDF",1785673981,121,{"code":4,"msg":31,"data":32},"ok",{"site_id":24,"language":23,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"evolutionary-machine-learning-in-robotics-chapter-overview","",{"@graph":36,"@context":85},[37,54,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,51],{"item":41,"name":42,"@type":43,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":50},"https://docshare.wps.com/document/research-report/",3,{"item":52,"name":13,"@type":43,"position":53},"https://docshare.wps.com/document/evolutionary-machine-learning-in-robotics-chapter-overview/117119/",4,{"url":52,"name":13,"@type":55,"author":56,"headline":13,"publisher":58,"fileFormat":61,"inLanguage":23,"description":14,"dateModified":62,"datePublished":62,"encodingFormat":61,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":57},"Person",{"url":41,"name":59,"@type":60},"DocShare","Organization","application/pdf","2026-08-02",true,{"@type":65,"interactionType":66,"userInteractionCount":4},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"What are the main aspects of a robot optimized using EML?","Question",{"text":75,"@type":76},"EML in robotics typically optimizes the controller, the robot body (morphology), or both. Some approaches also target more specialized aspects, depending on the problem setup.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"How does the chapter organize evolutionary optimization methods for neural network controllers?",{"text":80,"@type":76},"It categorizes approaches along axes such as the robotic task, the representation of solutions, and the evolutionary algorithm employed to search for effective controller parameters.",{"name":82,"@type":73,"acceptedAnswer":83},"What is the reality gap problem in evolutionary robotics?",{"text":84,"@type":76},"The reality gap arises when solution quality in simulations does not translate to similar quality in the real world, due to differences between modeled and physical conditions.","https://schema.org",{"og:url":52,"og:type":87,"og:title":13,"og:site_name":59,"og:description":14},"article",{"robots":89,"canonical":52},"index,follow",{"doc_id":7,"site_id":24},{"code":4,"msg":5,"data":92},[93,97,101,105,110,115,120,123,128,131,135],{"id":20,"doc_module":4,"doc_module_name":46,"category_name":94,"show_sort_weight":95,"slug":96},"Story & Novel",90,"story-novel",{"id":47,"doc_module":4,"doc_module_name":46,"category_name":98,"show_sort_weight":99,"slug":100},"Literature",80,"literature",{"id":53,"doc_module":4,"doc_module_name":46,"category_name":102,"show_sort_weight":103,"slug":104},"Exam",70,"exam",{"id":106,"doc_module":4,"doc_module_name":46,"category_name":107,"show_sort_weight":108,"slug":109},5,"Comic",60,"comic",{"id":111,"doc_module":4,"doc_module_name":46,"category_name":112,"show_sort_weight":113,"slug":114},6,"Technology",50,"technology",{"id":116,"doc_module":4,"doc_module_name":46,"category_name":117,"show_sort_weight":118,"slug":119},7,"Healthcare",40,"healthcare",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":121,"slug":122},30,"research-report",{"id":124,"doc_module":4,"doc_module_name":46,"category_name":125,"show_sort_weight":126,"slug":127},9,"Religion & Spirituality",20,"religion-spirituality",{"id":126,"doc_module":4,"doc_module_name":46,"category_name":129,"show_sort_weight":126,"slug":130},"World Cup","world-cup",{"id":132,"doc_module":4,"doc_module_name":46,"category_name":133,"show_sort_weight":132,"slug":134},10,"Lifestyle","lifestyle",{"id":136,"doc_module":4,"doc_module_name":46,"category_name":137,"show_sort_weight":106,"slug":138},19,"General","general"]