{"id":"https://openalex.org/W3046363371","doi":"https://doi.org/10.1145/3377929.3390032","title":"Comparing indirect encodings by evolutionary attractor analysis in the trait space of modular robots","display_name":"Comparing indirect encodings by evolutionary attractor analysis in the trait space of modular robots","publication_year":2020,"publication_date":"2020-07-08","ids":{"openalex":"https://openalex.org/W3046363371","doi":"https://doi.org/10.1145/3377929.3390032","mag":"3046363371"},"language":"en","primary_location":{"id":"doi:10.1145/3377929.3390032","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3377929.3390032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.vu.nl/en/publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083106608","display_name":"Matteo De Carlo","orcid":"https://orcid.org/0000-0002-6435-0873"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Matteo De Carlo","raw_affiliation_strings":["Vrije Universiteit Amsterdam"],"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Amsterdam","institution_ids":["https://openalex.org/I865915315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030274190","display_name":"Eliseo Ferrante","orcid":"https://orcid.org/0000-0002-2213-8356"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Eliseo Ferrante","raw_affiliation_strings":["Vrije Universiteit Amsterdam"],"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Amsterdam","institution_ids":["https://openalex.org/I865915315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074492402","display_name":"A. E. Eiben","orcid":"https://orcid.org/0000-0002-3106-4213"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"A. E. Eiben","raw_affiliation_strings":["Vrije Universiteit Amsterdam"],"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Amsterdam","institution_ids":["https://openalex.org/I865915315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083106608"],"corresponding_institution_ids":["https://openalex.org/I865915315"],"apc_list":null,"apc_paid":null,"fwci":0.6628,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75819967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"73","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9970999956130981,"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":0.9970999956130981,"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":0.992900013923645,"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":0.9907000064849854,"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/interpretability","display_name":"Interpretability","score":0.8706554174423218},{"id":"https://openalex.org/keywords/trait","display_name":"Trait","score":0.8169001340866089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6365435123443604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6137634515762329},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.6098146438598633},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.587310791015625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5439119935035706},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5157385468482971},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.49362480640411377},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.4850396513938904},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4827091693878174},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.4725370407104492},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.4573277235031128},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.4467403292655945},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.43500781059265137},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3707509934902191},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3663909137248993},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28657835721969604}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8706554174423218},{"id":"https://openalex.org/C106934330","wikidata":"https://www.wikidata.org/wiki/Q1971873","display_name":"Trait","level":2,"score":0.8169001340866089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6365435123443604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6137634515762329},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.6098146438598633},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.587310791015625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5439119935035706},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5157385468482971},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.49362480640411377},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.4850396513938904},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4827091693878174},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.4725370407104492},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.4573277235031128},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.4467403292655945},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.43500781059265137},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3707509934902191},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3663909137248993},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28657835721969604},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3377929.3390032","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3377929.3390032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion","raw_type":"proceedings-article"},{"id":"pmh:oai:research.vu.nl:publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","is_oa":true,"landing_page_url":"https://research.vu.nl/en/publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","pdf_url":"https://research.vu.nl/en/publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","source":{"id":"https://openalex.org/S4306400546","display_name":"Digital Academic REpository of VU University Amsterdam (Vrije Universiteit Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"De Carlo, M, Ferrante, E & Eiben, A E 2020, Comparing indirect encodings by evolutionary attractor analysis in the trait space of modular robots. in GECCO '20 : Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc, pp. 73-74, 2020 Genetic and Evolutionary Computation Conference, GECCO 2020, Cancun, Mexico, 8/07/20. https://doi.org/10.1145/3377929.3390032","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:research.vu.nl:publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","is_oa":true,"landing_page_url":"https://research.vu.nl/en/publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","pdf_url":"https://research.vu.nl/en/publications/725dee7d-ff4d-40cb-9167-1349ae0b391d","source":{"id":"https://openalex.org/S4306400546","display_name":"Digital Academic REpository of VU University Amsterdam (Vrije Universiteit Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"De Carlo, M, Ferrante, E & Eiben, A E 2020, Comparing indirect encodings by evolutionary attractor analysis in the trait space of modular robots. in GECCO '20 : Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc, pp. 73-74, 2020 Genetic and Evolutionary Computation Conference, GECCO 2020, Cancun, Mexico, 8/07/20. https://doi.org/10.1145/3377929.3390032","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3046363371.pdf","grobid_xml":"https://content.openalex.org/works/W3046363371.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W2020399841","https://openalex.org/W2050870241","https://openalex.org/W2066790509","https://openalex.org/W2083701746","https://openalex.org/W2119814172","https://openalex.org/W2888736260","https://openalex.org/W2955542736","https://openalex.org/W3004042307","https://openalex.org/W4249573129"],"related_works":["https://openalex.org/W1954640725","https://openalex.org/W4879471","https://openalex.org/W2528958959","https://openalex.org/W2123598160","https://openalex.org/W2274600189","https://openalex.org/W1552430481","https://openalex.org/W2174817438","https://openalex.org/W2116339921","https://openalex.org/W2078702954","https://openalex.org/W2135030058"],"abstract_inverted_index":{"In":[0,31,94],"evolutionary":[1,61],"robotics,":[2],"the":[3,6,38,58,68,76,88,91,110],"representation":[4],"of":[5,9,40,60,90,112],"robot":[7,41],"is":[8],"primary":[10],"importance.":[11],"Often":[12],"indirect":[13,47],"encodings":[14,113],"are":[15,105],"used,":[16],"whereby":[17],"a":[18,23,26,29,53],"complex":[19],"developmental":[20],"process":[21],"grows":[22],"body":[24],"and":[25,43,51,81],"brain":[27],"from":[28,46],"genotype.":[30],"this":[32,101],"work,":[33],"we":[34,66,78,86,97,104],"aim":[35],"at":[36],"improving":[37],"interpretability":[39],"morphologies":[42],"behaviours":[44],"resulting":[45],"encoding.":[48],"We":[49],"develop":[50],"use":[52],"methodology":[54],"that":[55,114],"focuses":[56],"on":[57],"analysis":[59,102],"attractors,":[62],"represented":[63],"in":[64,75,117],"what":[65],"call":[67],"trait":[69,72],"space:":[70],"Using":[71],"descriptors":[73],"defined":[74],"literature,":[77],"define":[79],"morphological":[80],"behavioural":[82],"Cartesian":[83],"planes":[84],"where":[85],"project":[87],"phenotype":[89],"final":[92],"population.":[93],"our":[95],"experiments":[96],"show":[98],"that,":[99],"using":[100],"method,":[103],"able":[106],"to":[107],"better":[108],"discern":[109],"effect":[111],"differ":[115],"only":[116],"minor":[118],"details.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}