{"id":"https://openalex.org/W3181899734","doi":"https://doi.org/10.1145/3449726.3463156","title":"On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme","display_name":"On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3181899734","doi":"https://doi.org/10.1145/3449726.3463156","mag":"3181899734"},"language":"en","primary_location":{"id":"doi:10.1145/3449726.3463156","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3449726.3463156","pdf_url":null,"source":{"id":"https://openalex.org/S4363608771","display_name":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://napier-surface.worktribe.com/2812272/1/On%20The%20Challenges%20Of%20Jointly%20Optimising%20Robot%20Morphology%20And%20Control%20Using%20A%20Hierarchical%20Optimisation%20Scheme%20%28accepted%20version%29","any_repository_has_fulltext":true},"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":"L\u00e9ni K. Le Goff","raw_affiliation_strings":["Edinburgh Napier University, Edinburgh, Scotland, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edinburgh Napier University, Edinburgh, Scotland, UK","institution_ids":["https://openalex.org/I251738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006992974","display_name":"Emma Hart","orcid":"https://orcid.org/0000-0002-5405-4413"},"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":"Emma Hart","raw_affiliation_strings":["Edinburgh Napier University, Edinburgh, Scotland, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edinburgh Napier University, Edinburgh, Scotland, 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":1.1747,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81724069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1498","last_page":"1502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/scheme","display_name":"Scheme (mathematics)","score":0.7694016695022583},{"id":"https://openalex.org/keywords/premature-convergence","display_name":"Premature convergence","score":0.7010644674301147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6831710338592529},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6810888648033142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5767542719841003},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5692611336708069},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4726739823818207},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4492916464805603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4185370206832886},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.41753286123275757},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35076403617858887},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.24094617366790771},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.16788536310195923},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1330181062221527}],"concepts":[{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.7694016695022583},{"id":"https://openalex.org/C58758708","wikidata":"https://www.wikidata.org/wiki/Q7240233","display_name":"Premature convergence","level":3,"score":0.7010644674301147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6831710338592529},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6810888648033142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5767542719841003},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5692611336708069},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4726739823818207},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4492916464805603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4185370206832886},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.41753286123275757},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35076403617858887},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.24094617366790771},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.16788536310195923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1330181062221527},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":3,"locations":[{"id":"doi:10.1145/3449726.3463156","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3449726.3463156","pdf_url":null,"source":{"id":"https://openalex.org/S4363608771","display_name":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","raw_type":"proceedings-article"},{"id":"pmh:oai:napier-surface.worktribe.com:2812272","is_oa":true,"landing_page_url":"https://napier-surface.worktribe.com/2812272/1/On%20The%20Challenges%20Of%20Jointly%20Optimising%20Robot%20Morphology%20And%20Control%20Using%20A%20Hierarchical%20Optimisation%20Scheme%20%28accepted%20version%29","pdf_url":null,"source":{"id":"https://openalex.org/S4306402591","display_name":"Edinburgh Napier Research Repository (Edinburgh Napier University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251738","host_organization_name":"Edinburgh Napier University","host_organization_lineage":["https://openalex.org/I251738"],"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":"","raw_type":"Conference Proceeding"},{"id":"pmh:oai:repository@napier.ac.uk:2812272","is_oa":true,"landing_page_url":"http://researchrepository.napier.ac.uk/Output/2812272","pdf_url":null,"source":{"id":"https://openalex.org/S4306402591","display_name":"Edinburgh Napier Research Repository (Edinburgh Napier University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251738","host_organization_name":"Edinburgh Napier University","host_organization_lineage":["https://openalex.org/I251738"],"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":null,"raw_type":"Presentation / Conference Contribution"}],"best_oa_location":{"id":"pmh:oai:napier-surface.worktribe.com:2812272","is_oa":true,"landing_page_url":"https://napier-surface.worktribe.com/2812272/1/On%20The%20Challenges%20Of%20Jointly%20Optimising%20Robot%20Morphology%20And%20Control%20Using%20A%20Hierarchical%20Optimisation%20Scheme%20%28accepted%20version%29","pdf_url":null,"source":{"id":"https://openalex.org/S4306402591","display_name":"Edinburgh Napier Research Repository (Edinburgh Napier University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251738","host_organization_name":"Edinburgh Napier University","host_organization_lineage":["https://openalex.org/I251738"],"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":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6843745395","display_name":null,"funder_award_id":"EP/R035733/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2038669746","https://openalex.org/W2111935653","https://openalex.org/W2167021024","https://openalex.org/W2525614878","https://openalex.org/W2967894826","https://openalex.org/W2997896361","https://openalex.org/W2999228461","https://openalex.org/W3015406673","https://openalex.org/W3043527030","https://openalex.org/W3107834591","https://openalex.org/W3112631988","https://openalex.org/W4237151101"],"related_works":["https://openalex.org/W2360854191","https://openalex.org/W2361301597","https://openalex.org/W1602506590","https://openalex.org/W2384438741","https://openalex.org/W2384016581","https://openalex.org/W2354866009","https://openalex.org/W2377197528","https://openalex.org/W1975289146","https://openalex.org/W2367365720","https://openalex.org/W3099514764"],"abstract_inverted_index":{"We":[0,39,77],"investigate":[1,40],"a":[2,15,25,37,47],"hierarchical":[3],"scheme":[4],"for":[5],"the":[6,41,57,82],"joint":[7],"optimisation":[8],"of":[9,43,72],"robot":[10],"bodies":[11],"and":[12,49],"controllers":[13],"in":[14,91],"complex":[16],"morphological":[17],"space.":[18],"An":[19],"evolutionary":[20],"algorithm":[21,28],"optimises":[22],"body-plans":[23,73],"while":[24],"separate":[26],"learning":[27,52],"is":[29],"applied":[30],"to":[31,35,61,74,87],"each":[32],"body":[33],"generated":[34],"learn":[36],"controller.":[38],"interaction":[42],"these":[44,89],"processes":[45],"using":[46],"weak":[48,58],"then":[50],"strong":[51],"method.":[53],"Results":[54],"show":[55],"that":[56,66],"learner":[59],"leads":[60],"more":[62],"body-plan":[63],"diversity":[64],"but":[65],"both":[67],"learners":[68],"cause":[69],"premature":[70],"convergence":[71],"local":[75],"optima.":[76],"conclude":[78],"with":[79],"suggestions":[80],"as":[81],"framework":[83],"might":[84],"be":[85],"adapted":[86],"address":[88],"issues":[90],"future.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}
