{"id":"https://openalex.org/W3037549554","doi":"https://doi.org/10.1162/isal_a_00316","title":"Fast and stable MAP-Elites in noisy domains using deep grids","display_name":"Fast and stable MAP-Elites in noisy domains using deep grids","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3037549554","doi":"https://doi.org/10.1162/isal_a_00316","mag":"3037549554"},"language":"en","primary_location":{"id":"doi:10.1162/isal_a_00316","doi":"https://doi.org/10.1162/isal_a_00316","is_oa":false,"landing_page_url":"https://doi.org/10.1162/isal_a_00316","pdf_url":null,"source":{"id":"https://openalex.org/S4363608301","display_name":"Conference on Artificial Life (ALIFE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 2020 Conference on Artificial Life","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2006.14253","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060282741","display_name":"Manon Flageat","orcid":"https://orcid.org/0000-0002-4601-2176","observed_orcids":["https://orcid.org/0000-0002-4601-2176"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Manon Flageat","raw_affiliation_strings":["Imperial College London, Department of Computing, London, SW7 2AZ, UK. Adaptive & Intelligent Robotics Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College London, Department of Computing, London, SW7 2AZ, UK. Adaptive & Intelligent Robotics Lab","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011747084","display_name":"Antoine Cully","orcid":"https://orcid.org/0000-0002-3190-7073","observed_orcids":["https://orcid.org/0000-0002-3190-7073"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antoine Cully","raw_affiliation_strings":["Imperial College London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":2.1595,"has_fulltext":true,"cited_by_count":45,"citation_normalized_percentile":{"value":0.90309346,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"273","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9247999787330627,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9247999787330627,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.028200000524520874,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.006200000178068876,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/map-elites","display_name":"MAP-Elites","score":0.9679999947547913},{"id":"https://openalex.org/keywords/noisy-fitness-functions","display_name":"noisy fitness functions","score":0.7570000290870667},{"id":"https://openalex.org/keywords/solution-archive","display_name":"solution archive","score":0.4259999990463257},{"id":"https://openalex.org/keywords/sample-efficiency","display_name":"sample efficiency","score":0.75}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7357176542282104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6446540355682373},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5743448734283447},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5671061277389526},{"id":"https://openalex.org/C176066374","wikidata":"https://www.wikidata.org/wiki/Q629118","display_name":"Fitness function","level":3,"score":0.5620863437652588},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.5188009142875671},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5037855505943298},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.49099352955818176},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.49000707268714905},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.4841809570789337},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47850456833839417},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46726101636886597},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.45597776770591736},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.43907853960990906},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43587619066238403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40511107444763184},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.21555691957473755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13610777258872986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.12442219257354736},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1162/isal_a_00316","doi":"https://doi.org/10.1162/isal_a_00316","is_oa":false,"landing_page_url":"https://doi.org/10.1162/isal_a_00316","pdf_url":null,"source":{"id":"https://openalex.org/S4363608301","display_name":"Conference on Artificial Life (ALIFE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 2020 Conference on Artificial Life","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2006.14253","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.14253","pdf_url":"https://arxiv.org/pdf/2006.14253","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3037549554","doi":null,"is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2006.14253","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/80818","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/10044/1/80818","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2020 Conference on Artificial Life","raw_type":"Conference Paper"},{"id":"doi:10.48550/arxiv.2006.14253","doi":"https://doi.org/10.48550/arxiv.2006.14253","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2006.14253","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2006.14253","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.14253","pdf_url":"https://arxiv.org/pdf/2006.14253","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3037549554.pdf","grobid_xml":"https://content.openalex.org/works/W3037549554.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W192154461","https://openalex.org/W758372786","https://openalex.org/W1490559506","https://openalex.org/W1555106872","https://openalex.org/W1738827650","https://openalex.org/W1965654221","https://openalex.org/W1993131108","https://openalex.org/W2015630562","https://openalex.org/W2021658946","https://openalex.org/W2078848072","https://openalex.org/W2099746672","https://openalex.org/W2117896172","https://openalex.org/W2117953906","https://openalex.org/W2156106639","https://openalex.org/W2462548332","https://openalex.org/W2473761223","https://openalex.org/W2555395830","https://openalex.org/W2702283731","https://openalex.org/W2727901370","https://openalex.org/W2793955514","https://openalex.org/W2797471289","https://openalex.org/W2809762329","https://openalex.org/W2874746074","https://openalex.org/W2959731414","https://openalex.org/W2960352216","https://openalex.org/W3011081898"],"related_works":["https://openalex.org/W2959731414","https://openalex.org/W3009840839","https://openalex.org/W3175917212","https://openalex.org/W2941887303","https://openalex.org/W4313889501","https://openalex.org/W3011912079","https://openalex.org/W4396988312","https://openalex.org/W2962390269","https://openalex.org/W4384024810","https://openalex.org/W4400410727"],"abstract_inverted_index":{"Quality-Diversity":[0],"optimisation":[1,55,180],"algorithms":[2],"enable":[3],"the":[4,17,63,69,87,96,108,112,147,161,182,208],"evolution":[5],"of":[6,8,90,111,114,124,146,154,163,184,217],"collections":[7,15],"both":[9],"high-performing":[10],"and":[11,22,93,188,220],"diverse":[12],"solutions.":[13],"These":[14],"offer":[16],"possibility":[18],"to":[19,27,60,106,159,170,205],"quickly":[20,134],"adapt":[21],"switch":[23],"from":[24],"one":[25],"solution":[26],"another":[28],"in":[29,42,77,86,98,127,215],"case":[30,89],"it":[31],"is":[32,201],"not":[33],"working":[34],"as":[35,47,131],"expected.":[36],"It":[37],"therefore":[38],"finds":[39],"many":[40,128],"applications":[41,129],"real-world":[43,78],"domain":[44],"problems":[45],"such":[46,73,130],"robotic":[48],"control.":[49],"However,":[50,117],"QD":[51,91],"algorithms,":[52,56,92],"like":[53],"most":[54],"are":[57,75],"very":[58],"sensitive":[59],"uncertainty":[61],"on":[62,68,103,174,207],"fitness":[64,218],"function,":[65],"but":[66],"also":[67],"behavioural":[70,209],"descriptors.":[71],"Yet,":[72],"uncertainties":[74],"frequent":[76],"applications.":[79],"Few":[80],"works":[81],"have":[82],"explored":[83,172],"this":[84,138,198],"issue":[85],"specific":[88],"inspired":[94],"by":[95],"literature":[97],"Evolutionary":[99],"Computation,":[100],"mainly":[101],"focus":[102],"using":[104],"sampling":[105,118],"approximate":[107,160],"\"true\"":[109],"value":[110],"performances":[113,214],"a":[115,121,144,164,178,185,189],"solution.":[116,165],"approaches":[119],"require":[120],"high":[122],"number":[123],"evaluations,":[125],"which":[126],"robotics,":[132],"can":[133],"become":[135],"impractical.":[136],"In":[137],"work,":[139],"we":[140],"propose":[141],"Deep-Grid":[142],"MAP-Elites,":[143],"variant":[145],"MAP-Elites":[148],"algorithm":[149],"that":[150,197],"uses":[151],"an":[152],"archive":[153],"similar":[155],"previously":[156,171],"encountered":[157],"solutions":[158],"performance":[162],"We":[166],"compare":[167],"our":[168],"approach":[169,200],"ones":[173],"three":[175],"noisy":[176],"tasks:":[177],"standard":[179],"task,":[181],"control":[183],"redundant":[186],"arm":[187],"simulated":[190],"Hexapod":[191],"robot.":[192],"The":[193],"experimental":[194],"results":[195],"show":[196],"simple":[199],"significantly":[202],"more":[203,222],"resilient":[204],"noise":[206],"descriptors,":[210],"while":[211],"achieving":[212],"competitive":[213],"terms":[216],"optimisation,":[219],"being":[221],"sample-efficient":[223],"than":[224],"other":[225],"existing":[226],"approaches.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2020-07-02T00:00:00"}