{"id":"https://openalex.org/W1965675101","doi":"https://doi.org/10.1145/2463372.2463399","title":"Behavioral repertoire learning in robotics","display_name":"Behavioral repertoire learning in robotics","publication_year":2013,"publication_date":"2013-07-06","ids":{"openalex":"https://openalex.org/W1965675101","doi":"https://doi.org/10.1145/2463372.2463399","mag":"1965675101"},"language":"en","primary_location":{"id":"doi:10.1145/2463372.2463399","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2463372.2463399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th annual conference on Genetic and evolutionary computation","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/A5011747084","display_name":"Antoine Cully","orcid":"https://orcid.org/0000-0002-3190-7073"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Cully","raw_affiliation_strings":["ISIR- UPMC/CNRS, Paris, France","ISIR UPMC-CNRS, Paris, France#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISIR- UPMC/CNRS, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"ISIR UPMC-CNRS, Paris, France#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032227198","display_name":"Jean-Baptiste Mouret","orcid":"https://orcid.org/0000-0002-2513-027X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Baptiste Mouret","raw_affiliation_strings":["ISIR- UPMC/CNRS, Paris, France","ISIR UPMC-CNRS, Paris, France#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISIR- UPMC/CNRS, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"ISIR UPMC-CNRS, Paris, France#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"175","last_page":"182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9973999857902527,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9245827198028564},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.8776568174362183},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7241659760475159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7133454084396362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7114230394363403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6741864681243896},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6644771695137024},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5694802403450012},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5392090082168579},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5317052006721497},{"id":"https://openalex.org/keywords/repertoire","display_name":"Repertoire","score":0.43728604912757874},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40512049198150635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3413095474243164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13672900199890137}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9245827198028564},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.8776568174362183},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7241659760475159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7133454084396362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7114230394363403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6741864681243896},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6644771695137024},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5694802403450012},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5392090082168579},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5317052006721497},{"id":"https://openalex.org/C2778473898","wikidata":"https://www.wikidata.org/wiki/Q2145110","display_name":"Repertoire","level":2,"score":0.43728604912757874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40512049198150635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3413095474243164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13672900199890137},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/2463372.2463399","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2463372.2463399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th annual conference on Genetic and evolutionary computation","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/48639","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/48639","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,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 15th annual conference on Genetic and evolutionary computation","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6702880738","display_name":null,"funder_award_id":"ANR-12","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6993247993","display_name":"Creative Adaptation by Evolution","funder_award_id":"ANR-12-JS03-0009","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W23603061","https://openalex.org/W284629942","https://openalex.org/W1486707268","https://openalex.org/W1512908771","https://openalex.org/W1525091079","https://openalex.org/W1554960504","https://openalex.org/W1751034982","https://openalex.org/W1965654221","https://openalex.org/W1978161072","https://openalex.org/W2001685400","https://openalex.org/W2020521465","https://openalex.org/W2037210683","https://openalex.org/W2081725099","https://openalex.org/W2099746672","https://openalex.org/W2122410182","https://openalex.org/W2126105956","https://openalex.org/W2129578597","https://openalex.org/W2137558286","https://openalex.org/W2139053308","https://openalex.org/W2150884987","https://openalex.org/W2151083897","https://openalex.org/W2157246645","https://openalex.org/W2162478582","https://openalex.org/W2164722364","https://openalex.org/W4235611253","https://openalex.org/W6678087030"],"related_works":["https://openalex.org/W1993385477","https://openalex.org/W4244439390","https://openalex.org/W2380659006","https://openalex.org/W4251432983","https://openalex.org/W2096206748","https://openalex.org/W2076767946","https://openalex.org/W2314472328","https://openalex.org/W13141533","https://openalex.org/W2918544916","https://openalex.org/W1597492186"],"abstract_inverted_index":{"Learning":[0],"in":[1,33,59],"robotics":[2],"typically":[3],"involves":[4],"choosing":[5],"a":[6,41,65,72,89,96,115,123,140,147,155,174,188],"simple":[7,99],"goal":[8],"(e.g.":[9,23,31],"walking)":[10],"and":[11],"assessing":[12],"the":[13,45,79,106,151,161,168,184],"performance":[14,116],"of":[15,44,78,87,98,105,125,150,157,167,177,187],"each":[16,34,38,103,165],"controller":[17,39],"with":[18],"regard":[19],"to":[20,54,109,121,163],"this":[21,132],"task":[22],"walking":[24,32],"speed).":[25],"However,":[26],"learning":[27,68,178],"advanced,":[28],"input-driven":[29],"controllers":[30,58,138,158],"direction)":[35],"requires":[36],"testing":[37],"on":[40],"large":[42],"sample":[43],"possible":[46],"input":[47],"signals.":[48],"This":[49],"costly":[50],"process":[51],"makes":[52],"difficult":[53],"learn":[55],"useful":[56],"low-level":[57],"robotics.":[60],"Here":[61],"we":[62],"introduce":[63],"BR-Evolution,":[64],"new":[66,133,175],"evolutionary":[67],"technique":[69,134],"that":[70,82,118,146,159,180],"generates":[71],"behavioral":[73],"repertoire":[74],"by":[75,135],"taking":[76],"advantage":[77],"candidate":[80],"solutions":[81],"are":[83],"usually":[84],"discarded.":[85],"Instead":[86],"evolving":[88,136],"single,":[90],"general":[91],"controller,":[92],"BR-evolution":[93],"thus":[94],"evolves":[95],"collection":[97,124,156],"controllers,":[100,112],"one":[101],"for":[102,139],"variant":[104],"target":[107],"behavior;":[108],"distinguish":[110],"similar":[111],"it":[113,120],"uses":[114],"objective":[117],"allows":[119,160],"produce":[122],"diverse":[126],"but":[127],"high-performing":[128],"behaviors.":[129],"We":[130],"evaluated":[131],"gait":[137],"simulated":[141],"hexapod":[142],"robot.":[143,189],"Results":[144],"show":[145],"single":[148],"run":[149],"EA":[152],"quickly":[153],"finds":[154],"robot":[162],"reach":[164],"point":[166],"reachable":[169],"space.":[170],"Overall,":[171],"BR-Evolution":[172],"opens":[173],"kind":[176],"algorithm":[179],"simultaneously":[181],"optimizes":[182],"all":[183],"achievable":[185],"behaviors":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
