{"id":"https://openalex.org/W4413136930","doi":"https://doi.org/10.1109/tevc.2025.3596746","title":"Enhancing Adaptability in Embodied Agents: A Multi-Quality-Diversity Approach","display_name":"Enhancing Adaptability in Embodied Agents: A Multi-Quality-Diversity Approach","publication_year":2025,"publication_date":"2025-08-07","ids":{"openalex":"https://openalex.org/W4413136930","doi":"https://doi.org/10.1109/tevc.2025.3596746"},"language":"en","primary_location":{"id":"doi:10.1109/tevc.2025.3596746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tevc.2025.3596746","pdf_url":null,"source":{"id":"https://openalex.org/S93787993","display_name":"IEEE Transactions on Evolutionary Computation","issn_l":"1089-778X","issn":["1089-778X","1941-0026"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Evolutionary Computation","raw_type":"journal-article"},"type":"article","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/A5060709308","display_name":"Giorgia Nadizar","orcid":"https://orcid.org/0000-0002-3535-9748"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgia Nadizar","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy","University of Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3535-9748","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]},{"raw_affiliation_string":"University of Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074055647","display_name":"Eric Medvet","orcid":"https://orcid.org/0000-0001-5652-2113"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eric Medvet","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy","University of Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5652-2113","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]},{"raw_affiliation_string":"University of Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001743328","display_name":"Dennis G. Wilson","orcid":"https://orcid.org/0000-0003-2414-0051"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Sup\u00e9rieur de l'A\u00e9ronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]},{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dennis G. Wilson","raw_affiliation_strings":["Complex Systems Engineering Department, ISAE-SUPAERO, Toulouse, France","ISAE-SUPAERO, France"],"raw_orcid":"https://orcid.org/0000-0003-2414-0051","affiliations":[{"raw_affiliation_string":"Complex Systems Engineering Department, ISAE-SUPAERO, Toulouse, France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"ISAE-SUPAERO, France","institution_ids":["https://openalex.org/I193033237"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4431,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.90277134,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"30","issue":"3","first_page":"1137","last_page":"1149"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.34369999170303345,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.34369999170303345,"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/adaptability","display_name":"Adaptability","score":0.9094533920288086},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.6347460746765137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5461241006851196},{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.542971670627594},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5279312133789062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40673357248306274},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10549241304397583},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.10450470447540283},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07416635751724243}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.9094533920288086},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.6347460746765137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5461241006851196},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.542971670627594},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5279312133789062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40673357248306274},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10549241304397583},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.10450470447540283},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07416635751724243},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tevc.2025.3596746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tevc.2025.3596746","pdf_url":null,"source":{"id":"https://openalex.org/S93787993","display_name":"IEEE Transactions on Evolutionary Computation","issn_l":"1089-778X","issn":["1089-778X","1941-0026"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Evolutionary Computation","raw_type":"journal-article"},{"id":"pmh:oai:arts.units.it:11368/3116482","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11119655","pdf_url":null,"source":{"id":"https://openalex.org/S4306400480","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"On":[0],"the":[1,53,80,99,122,167,192,199],"path":[2],"towards":[3],"truly":[4],"autonomous":[5],"robots,":[6],"embodied":[7,77,104],"agents":[8,20,78,105],"will":[9],"require":[10],"to":[11,14,48,66,120,149],"be":[12],"adaptable":[13],"unforeseen":[15],"circumstances.":[16],"Yet,":[17],"most":[18,123],"robotic":[19],"still":[21],"suffer":[22],"from":[23],"significant":[24],"performance":[25,179],"degradation":[26],"when":[27],"scenarios":[28],"change":[29],"slightly,":[30],"with":[31,162,198],"many":[32],"even":[33],"failing":[34],"their":[35],"tasks":[36],"entirely.":[37],"In":[38],"contrast,":[39],"organisms":[40],"in":[41,79,84,128,157],"nature":[42],"exhibit":[43],"strong":[44],"adaptability,":[45],"largely":[46],"due":[47],"bio-diversity,":[49],"which":[50],"has":[51],"prevented":[52],"extinction":[54],"of":[55,63,76,102,153,169,174],"life":[56],"throughout":[57],"severe":[58],"environmental":[59],"changes.":[60],"The":[61],"concept":[62],"quality-diversity":[64],"aims":[65],"emulate":[67],"this":[68],"natural":[69],"resilience,":[70],"yielding":[71],"robust":[72],"results":[73],"through":[74,147],"diversification":[75],"behavior":[81],"space.":[82],"However,":[83],"nature,":[85],"diversity":[86,127,175],"occurs":[87],"simultaneously":[88,170],"at":[89],"multiple":[90,172],"levels:":[91],"body,":[92],"brain,":[93],"and":[94,114,132,143,160,180],"behavior.":[95],"This":[96],"study":[97],"on":[98,184,196],"body-brain":[100],"optimization":[101],"virtual":[103],"spans":[106],"two":[107],"brain":[108],"representations\u2014an":[109],"Artificial":[110],"Neural":[111],"Network":[112],"(ANN)":[113],"a":[115,139,150],"graph\u2014and":[116],"investigates":[117],"these":[118],"levels":[119],"determine":[121],"critical":[124],"scope":[125],"for":[126,138,176],"fostering":[129],"performance,":[130],"generality,":[131],"robustness.":[133],"We":[134],"start":[135],"by":[136],"optimizing":[137],"simple":[140],"locomotion":[141,156],"task,":[142],"then":[144],"evaluate":[145],"generality":[146],"transfer":[148,183],"diverse":[151],"set":[152],"tasks,":[154],"including":[155],"new":[158,186],"environments":[159],"interaction":[161],"objects.":[163],"Our":[164],"findings":[165],"confirm":[166],"importance":[168],"considering":[171],"axes":[173],"achieving":[177],"good":[178],"adaptability\u2014demonstrating":[181],"zero-shot":[182],"18":[185],"tasks.":[187],"Moreover,":[188],"we":[189],"observe":[190],"that":[191],"graph":[193],"controller":[194],"performs":[195],"par":[197],"ANN,":[200],"offering":[201],"greater":[202],"interpretability.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
