{"id":"https://openalex.org/W2138321920","doi":"https://doi.org/10.1162/106454602320991837","title":"Creating High-Level Components with a Generative Representation for Body-Brain Evolution","display_name":"Creating High-Level Components with a Generative Representation for Body-Brain Evolution","publication_year":2002,"publication_date":"2002-07-01","ids":{"openalex":"https://openalex.org/W2138321920","doi":"https://doi.org/10.1162/106454602320991837","mag":"2138321920","pmid":"https://pubmed.ncbi.nlm.nih.gov/12537684"},"language":"en","primary_location":{"id":"doi:10.1162/106454602320991837","is_oa":false,"landing_page_url":"https://doi.org/10.1162/106454602320991837","pdf_url":null,"source":{"id":"https://openalex.org/S2181302","display_name":"Artificial Life","issn_l":"1064-5462","issn":["1064-5462","1530-9185"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5111980185","display_name":"Gregory S. Hornby","orcid":null},"institutions":[{"id":"https://openalex.org/I6902469","display_name":"Brandeis University","ror":"https://ror.org/05abbep66","country_code":"US","type":"education","lineage":["https://openalex.org/I6902469"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Gregory S. Hornby","raw_affiliation_strings":["DEMO Lab, Computer Science Department, Brandeis University, Waltham, MA 02454-9110,"],"affiliations":[{"raw_affiliation_string":"DEMO Lab, Computer Science Department, Brandeis University, Waltham, MA 02454-9110,","institution_ids":["https://openalex.org/I6902469"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065211438","display_name":"Jordan Pollack","orcid":"https://orcid.org/0009-0008-0819-3819"},"institutions":[{"id":"https://openalex.org/I6902469","display_name":"Brandeis University","ror":"https://ror.org/05abbep66","country_code":"US","type":"education","lineage":["https://openalex.org/I6902469"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jordan B. Pollack","raw_affiliation_strings":["DEMO Lab, Computer Science Department, Brandeis University, Waltham, MA 02454-9110,"],"affiliations":[{"raw_affiliation_string":"DEMO Lab, Computer Science Department, Brandeis University, Waltham, MA 02454-9110,","institution_ids":["https://openalex.org/I6902469"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111980185"],"corresponding_institution_ids":["https://openalex.org/I6902469"],"apc_list":null,"apc_paid":null,"fwci":14.9206,"has_fulltext":false,"cited_by_count":224,"citation_normalized_percentile":{"value":0.99125584,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"8","issue":"3","first_page":"223","last_page":"246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9976999759674072,"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":0.9976999759674072,"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":0.9868999719619751,"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":0.9839000105857849,"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/generative-grammar","display_name":"Generative grammar","score":0.7346673607826233},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7259807586669922},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6321659684181213},{"id":"https://openalex.org/keywords/generative-design","display_name":"Generative Design","score":0.6078131794929504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5836124420166016},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.5633898973464966},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5272173881530762},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.5084787607192993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4971194565296173},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.47840651869773865},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37416166067123413},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.35955697298049927},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34780508279800415},{"id":"https://openalex.org/keywords/compatibility","display_name":"Compatibility (geochemistry)","score":0.1081153154373169},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10364159941673279}],"concepts":[{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.7346673607826233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7259807586669922},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6321659684181213},{"id":"https://openalex.org/C184408114","wikidata":"https://www.wikidata.org/wiki/Q1502022","display_name":"Generative Design","level":3,"score":0.6078131794929504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5836124420166016},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.5633898973464966},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5272173881530762},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.5084787607192993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4971194565296173},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.47840651869773865},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37416166067123413},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.35955697298049927},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34780508279800415},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.1081153154373169},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10364159941673279},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C17409809","wikidata":"https://www.wikidata.org/wiki/Q161764","display_name":"Geochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001823","descriptor_name":"Body Composition","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001823","descriptor_name":"Body Composition","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001823","descriptor_name":"Body Composition","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001921","descriptor_name":"Brain","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001921","descriptor_name":"Brain","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001921","descriptor_name":"Brain","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1162/106454602320991837","is_oa":false,"landing_page_url":"https://doi.org/10.1162/106454602320991837","pdf_url":null,"source":{"id":"https://openalex.org/S2181302","display_name":"Artificial Life","issn_l":"1064-5462","issn":["1064-5462","1530-9185"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life","raw_type":"journal-article"},{"id":"pmid:12537684","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/12537684","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial life","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.136.6381","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.136.6381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://student.cs.appstate.edu/~cce/papers/alife_8_3_223_0.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W101458385","https://openalex.org/W106550765","https://openalex.org/W165295313","https://openalex.org/W1501400124","https://openalex.org/W1504105319","https://openalex.org/W1506874128","https://openalex.org/W1514436730","https://openalex.org/W1517016597","https://openalex.org/W1572625959","https://openalex.org/W1576818901","https://openalex.org/W1585513135","https://openalex.org/W1596268703","https://openalex.org/W1609223620","https://openalex.org/W1987574258","https://openalex.org/W2000690667","https://openalex.org/W2010769244","https://openalex.org/W2019580310","https://openalex.org/W2074397232","https://openalex.org/W2075347672","https://openalex.org/W2083298149","https://openalex.org/W2087919301","https://openalex.org/W2089674328","https://openalex.org/W2098613749","https://openalex.org/W2117085697","https://openalex.org/W2120135308","https://openalex.org/W2127197749","https://openalex.org/W2128003332","https://openalex.org/W2148528946","https://openalex.org/W2167021024","https://openalex.org/W2167609699","https://openalex.org/W2799049976","https://openalex.org/W2911277704"],"related_works":["https://openalex.org/W4301024388","https://openalex.org/W775311126","https://openalex.org/W1517876498","https://openalex.org/W4300030714","https://openalex.org/W2489288131","https://openalex.org/W4365211920","https://openalex.org/W4317695495","https://openalex.org/W4380551139","https://openalex.org/W4388137171","https://openalex.org/W1967909251"],"abstract_inverted_index":{"One":[0],"of":[1,5,23,37,51,59,65,86,151,153],"the":[2,12,38,41,44,56,60,84,101,117,129,140,146],"main":[3],"limitations":[4],"scalability":[6],"in":[7,40,139],"body-brain":[8],"evolution":[9,58],"systems":[10],"is":[11],"representation":[13,54,98,103,119],"chosen":[14],"for":[15,55,75,89],"encoding":[16],"creatures.":[17],"This":[18,46],"paper":[19,47],"defines":[20],"a":[21,52,95],"class":[22],"representations":[24,143],"called":[25],"generative":[26,53,102,118],"representations,":[27],"which":[28],"are":[29],"identified":[30],"by":[31,124,133],"their":[32],"ability":[33],"to":[34,43,83],"reuse":[35,150],"elements":[36],"genotype":[39],"translation":[42],"phenotype.":[45,141],"presents":[48],"an":[49,72],"example":[50],"concurrent":[57],"morphology":[61],"and":[62,68,91,132,149],"neural":[63],"controller":[64],"simulated":[66],"robots,":[67],"also":[69],"introduces":[70],"GENRE,":[71],"evolutionary":[73],"system":[74,104,120],"evolving":[76,87],"designs":[77],"using":[78],"this":[79],"representation.":[80],"Applying":[81],"GENRE":[82],"task":[85],"robots":[88,107],"locomotion":[90],"comparing":[92],"it":[93],"against":[94],"non-generative":[96],"(direct)":[97],"shows":[99,115],"that":[100,116],"rapidly":[105],"produces":[106],"with":[108],"significantly":[109],"greater":[110],"fitness.":[111],"Analyzing":[112],"these":[113],"results":[114],"achieves":[121],"better":[122],"performance":[123],"capturing":[125],"useful":[126],"bias":[127],"from":[128],"design":[130],"space":[131],"allowing":[134],"viable":[135],"large":[136],"scale":[137],"mutations":[138],"Generative":[142],"thereby":[144],"enable":[145],"encapsulation,":[147],"coordination,":[148],"assemblies":[152],"parts.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":14}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}