{"id":"https://openalex.org/W4413925146","doi":"https://doi.org/10.1109/icra55743.2025.11127289","title":"Efficient and Diverse Generative Robot Designs Using Evolution and Intrinsic Motivation","display_name":"Efficient and Diverse Generative Robot Designs Using Evolution and Intrinsic Motivation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925146","doi":"https://doi.org/10.1109/icra55743.2025.11127289"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127289","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033458962","display_name":"L\u00e9ni K. Le Goff","orcid":"https://orcid.org/0000-0003-1749-9154"},"institutions":[{"id":"https://openalex.org/I251738","display_name":"Edinburgh Napier University","ror":"https://ror.org/03zjvnn91","country_code":"GB","type":"education","lineage":["https://openalex.org/I251738"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Leni K. Le Goff","raw_affiliation_strings":["School of Computing, Engineering & The Built Environment, Edinburgh Napier University,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, Engineering & The Built Environment, Edinburgh Napier University,UK","institution_ids":["https://openalex.org/I251738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101825660","display_name":"Sim\u00f3n C. Smith","orcid":"https://orcid.org/0000-0001-5453-9659"},"institutions":[{"id":"https://openalex.org/I251738","display_name":"Edinburgh Napier University","ror":"https://ror.org/03zjvnn91","country_code":"GB","type":"education","lineage":["https://openalex.org/I251738"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sim\u00f3n C. Smith","raw_affiliation_strings":["School of Computing, Engineering & The Built Environment, Edinburgh Napier University,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, Engineering & The Built Environment, Edinburgh Napier University,UK","institution_ids":["https://openalex.org/I251738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I251738"],"apc_list":null,"apc_paid":null,"fwci":4.2429,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94701771,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"16598","last_page":"16605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9919000267982483,"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":0.9919000267982483,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9710000157356262,"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/robot","display_name":"Robot","score":0.6225841641426086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5940203070640564},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.4853760004043579},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43738484382629395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38597795367240906}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6225841641426086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5940203070640564},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.4853760004043579},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43738484382629395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38597795367240906}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127289","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1591713425","https://openalex.org/W1599882658","https://openalex.org/W1609223620","https://openalex.org/W1998846694","https://openalex.org/W2020399841","https://openalex.org/W2481414473","https://openalex.org/W2610992585","https://openalex.org/W2701942770","https://openalex.org/W2889508554","https://openalex.org/W2911471144","https://openalex.org/W2917039419","https://openalex.org/W2918392679","https://openalex.org/W2963534270","https://openalex.org/W3026295708","https://openalex.org/W3043527030","https://openalex.org/W3046772394","https://openalex.org/W3086909126","https://openalex.org/W3112631988","https://openalex.org/W3122081773","https://openalex.org/W3123139944","https://openalex.org/W3184253405","https://openalex.org/W3202717607","https://openalex.org/W3205910187","https://openalex.org/W4380769213","https://openalex.org/W4386033190","https://openalex.org/W4387299638","https://openalex.org/W4389474287","https://openalex.org/W4395659039","https://openalex.org/W4401215699","https://openalex.org/W4401413632"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2380075625","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"Methods":[0],"for":[1,15],"generative":[2],"design":[3],"of":[4,74,138],"robot":[5,53,67],"physical":[6,26],"configurations":[7],"can":[8],"automatically":[9],"find":[10],"optimal":[11,72],"and":[12,28,40,69,91,115,150,180,191],"innovative":[13],"solutions":[14],"challenging":[16,35],"tasks":[17],"in":[18,37,42,51,131,164,173],"complex":[19],"environments.":[20],"The":[21,168],"vast":[22],"search-space":[23],"includes":[24],"the":[25,29,71,75,139,175],"design-space":[27],"controller":[30,126],"parameter-space,":[31],"making":[32],"it":[33],"a":[34,124,132],"problem":[36],"machine":[38],"learning":[39,60,117,145],"optimisation":[41],"general.":[43],"Evolutionary":[44],"algorithms":[45],"(EAs)":[46],"have":[47],"shown":[48],"promising":[49],"results":[50],"generating":[52],"designs":[54,68,170],"via":[55],"gradient-free":[56],"optimisation.":[57],"Morpho-evolution":[58],"with":[59,106,135,160,187],"(MEL)":[61],"uses":[62],"EAs":[63],"to":[64,84,95,185],"concurrently":[65],"generate":[66],"learn":[70],"parameters":[73],"controllers.":[76],"Two":[77],"main":[78],"issues":[79],"prevent":[80],"MEL":[81,162],"from":[82,113],"scaling":[83],"higher":[85,172],"complexity":[86],"tasks:":[87],"i)":[88],"computational":[89,148],"cost":[90],"ii)":[92],"premature":[93,154],"convergence":[94],"sub-optimal":[96],"designs.":[97],"To":[98],"address":[99],"these":[100],"issues,":[101],"we":[102],"propose":[103],"combining":[104],"morpho-evolution":[105,186],"intrinsic":[107],"motivations.":[108],"Intrinsically":[109],"motivated":[110],"behaviour":[111,130],"arises":[112],"embodiment":[114],"simple":[116],"rules":[118],"without":[119],"external":[120],"guidance.":[121],"We":[122,156],"use":[123],"homeokinetic":[125],"that":[127],"generates":[128],"exploratory":[129],"few":[133],"seconds":[134],"minimal":[136],"knowledge":[137],"robot's":[140],"design.":[141],"Homeokinesis":[142],"replaces":[143],"costly":[144],"phases,":[146],"reducing":[147],"time":[149],"favouring":[151],"diversity,":[152],"preventing":[153],"convergence.":[155],"compare":[157],"our":[158],"approach":[159],"current":[161],"methods":[163],"several":[165],"downstream":[166],"tasks.":[167],"generated":[169,183],"score":[171],"all":[174],"tasks,":[176],"are":[177,181],"more":[178],"diverse,":[179],"quickly":[182],"compared":[184],"static":[188],"parameters.":[189],"Source":[190],"containers":[192],"available":[193],"at":[194],"github.com/AutonomousRoboticEvolution.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-08-25T07:29:55.448023","created_date":"2025-10-10T00:00:00"}