{"id":"https://openalex.org/W3023454684","doi":"https://doi.org/10.7551/978-0-262-32621-6-ch026","title":"Abstract of: \u201cFast Damage Recovery in Robotics with the T-Resilience Algorithm\u201d","display_name":"Abstract of: \u201cFast Damage Recovery in Robotics with the T-Resilience Algorithm\u201d","publication_year":2014,"publication_date":"2014-07-06","ids":{"openalex":"https://openalex.org/W3023454684","doi":"https://doi.org/10.7551/978-0-262-32621-6-ch026","mag":"3023454684"},"language":"en","primary_location":{"id":"doi:10.7551/978-0-262-32621-6-ch026","is_oa":false,"landing_page_url":"https://doi.org/10.7551/978-0-262-32621-6-ch026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems","raw_type":"proceedings-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/A5048009206","display_name":"Sylvain Koos","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sylvain Koos","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011747084","display_name":"Antoine Cully","orcid":"https://orcid.org/0000-0002-3190-7073"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antoine Cully","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5032227198","display_name":"Jean-Baptiste Mouret","orcid":"https://orcid.org/0000-0002-2513-027X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Baptiste Mouret","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048009206"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4058,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.749433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"156","last_page":"157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9958999752998352,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9958999752998352,"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/T10320","display_name":"Neural Networks and Applications","score":0.9424999952316284,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9358000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.7147831916809082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6773768663406372},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.620486855506897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5500827431678772},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4963276982307434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34840238094329834}],"concepts":[{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.7147831916809082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6773768663406372},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.620486855506897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5500827431678772},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4963276982307434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34840238094329834},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.7551/978-0-262-32621-6-ch026","is_oa":false,"landing_page_url":"https://doi.org/10.7551/978-0-262-32621-6-ch026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W4233452137","https://openalex.org/W4254857216","https://openalex.org/W4231626925","https://openalex.org/W2962829499","https://openalex.org/W2767518918","https://openalex.org/W2131444840","https://openalex.org/W2414929284","https://openalex.org/W192849109"],"abstract_inverted_index":{"of:":[0],"Fast":[1],"Damage":[2,37],"Recovery":[3],"in":[4,68,118,159,216,288,349,367,379,463,518,545,549,622,626],"Robotics":[5],"with":[6,268,559],"the":[7,87,93,97,101,108,160,166,188,218,226,254,262,305,317,323,326,352,356,376,380,387,392,430,443,456,469,481,486,489,500,513,521,535,623,629,632,654,661,675,682,687],"T-Resilience":[8],"Algorithm":[9],"Sylvain":[10],"Koos,":[11],"Antoine":[12],"Cully":[13],"and":[14,59,76,163,190,301,351,502,527,551,625,648,677,689],"Jean-Baptiste":[15],"Mouret":[16],"Sorbonne":[17],"Universites,":[18],"UPMC":[19],"Univ":[20],"Paris":[21],"06,":[22],"UMR":[23,30],"722,":[24],"ISIR,":[25,32],"F-75005,":[26,33],"Paris,":[27,34],"France":[28,35],"CNRS,":[29],"7222,":[31],"mouret@isir.upmc.fr":[36],"recovery":[38],"is":[39,84,104,340,365,394,398,413,421,434,440,453,478,509,539,557],"critical":[40],"for":[41,48,96,176,261,281,322,582],"autonomous":[42],"robots":[43],"that":[44,120,283,319,459,515,590,608,641],"need":[45],"to":[46,70,85,113,134,136,151,181,191,195,231,248,313,333,370,374,454,465,479,511,520,576,586],"operate":[47],"a":[49,72,259,266,295,309,334,342,346,494,503,507,542,560,561,578,587,598,602],"long":[50],"time":[51,215,240,312],"without":[52],"assistance.":[53],"Most":[54],"current":[55,98],"methods":[56],"are":[57,132,148,179,303,320,497,553],"complex":[58],"costly":[60],"because":[61,155],"they":[62,156,617],"require":[63,182],"anticipating":[64],"each":[65],"potential":[66],"damage":[67],"order":[69],"have":[71,121],"contingency":[73,336],"plan":[74],"ready":[75],"diagnosis":[77,327],"procedures.":[78],"An":[79],"alternative":[80],"line":[81],"of":[82,168,185,197,212,220,311,316,402,429,475,485,488,523,604,660,681,691],"thought":[83],"let":[86],"robot":[88,109,189,358,412,600,633,655],"learn":[89],"on":[90,165,187,225,253,355,386,468,610,686],"its":[91,126],"own":[92],"best":[94],"behavior":[95,347,354],"situation.":[99],"If":[100,597],"learning":[102,130,258],"process":[103],"open":[105],"enough,":[106],"then":[107,264,606],"should":[110],"be":[111,235,243,329,574,615],"able":[112],"discover":[114],"new":[115,588],"compensatory":[116],"behaviors":[117,461,517,607,643],"situations":[119],"not":[122,383,414,614,666],"been":[123],"foreseen":[124],"by":[125,222,245,436,442],"designers.":[127],"Classic":[128],"reinforcement":[129],"algorithms":[131,146],"hard":[133],"apply":[135],"low-level":[137],"robotic":[138],"problems":[139],"(Togelius":[140],"et":[141,201,205,272,275,360,404,447,567],"al.,":[142,202,206,276,361,448],"2009),":[143],"but":[144,363,663],"evolutionary":[145,563],"(EAs)":[147],"good":[149],"candidates":[150],"find":[152],"original":[153,451],"solutions":[154,252],"can":[157,241,307,573],"optimize":[158],"continuous":[161],"domain":[162],"work":[164,384],"structure":[167],"controllers":[169,175,221,496],"(e.g.":[170,199],"neural":[171],"networks).":[172],"When":[173],"evolving":[174,265],"robots,":[177],"EAs":[178,209],"reported":[180],"many":[183],"hundreds":[184],"trials":[186],"last":[192],"from":[193],"two":[194],"tens":[196],"hours":[198],"(Hornby":[200],"2005;":[203],"Yosinski":[204],"2011)).":[207],"These":[208],"spend":[210],"most":[211],"their":[213,238],"running":[214,239],"evaluating":[217],"quality":[219],"testing":[223],"them":[224],"target":[227,357,470],"robot.":[228,255,471],"Since,":[229],"contrary":[230],"simulation,":[232,270],"reality":[233],"cannot":[234],"sped":[236],"up,":[237],"only":[242],"improved":[244],"finding":[246],"strategies":[247],"evaluate":[249],"fewer":[250],"candidate":[251],"By":[256,672],"first":[257],"self-model":[260,318,393,624],"robot,":[263,389],"controller":[267,377],"this":[269,289,292,476,492,531],"Bongard":[271],"al.":[273,405,568],"(Bongard":[274],"2006)":[277],"designed":[278],"an":[279,285,399,637,658],"algorithm":[280,293,306,369,439,483,505,564,581,589],"resilience":[282],"makes":[284],"important":[286,297],"step":[287],"direction.":[290],"Nevertheless,":[291],"has":[294],"few":[296,495],"shortcomings.":[298],"First,":[299],"actions":[300],"models":[302],"undirected:":[304],"\u201cwaste\u201d":[308],"lot":[310],"improve":[314],"parts":[315,612],"irrelevant":[321],"task.":[324],"Second,":[325],"may":[328,382],"wrong,":[330],"which":[331,546],"leads":[332],"useless":[335],"plan.":[337],"Third,":[338],"there":[339],"often":[341],"\u201creality":[343,457],"gap\u201d":[344,458],"between":[345,525],"learned":[348,378],"simulation":[350,381,464,519,526,550,603],"same":[353,571],"(Jakobi":[359],"1995),":[362],"nothing":[364],"included":[366],"Bongard\u2019s":[368],"prevent":[371],"such":[372],"gap":[373],"happen:":[375],"well":[385],"real":[388],"even":[390],"if":[391],"accurate.":[395],"This":[396,555],"paper":[397],"extended":[400],"abstract":[401],"Koos":[403],"(2013a).":[406],"Figure":[407],"1:":[408],"(A)":[409],"The":[410,417,426,472,570],"hexapod":[411],"damaged.":[415],"(B)":[416],"left":[418],"middle":[419],"leg":[420,433],"no":[422],"longer":[423],"powered.":[424],"(C)":[425],"terminal":[427],"part":[428],"front":[431],"right":[432],"shortened":[435],"half.":[437],"Our":[438],"inspired":[441],"\u201ctransferability":[444],"approach\u201d":[445],"(Koos":[446],"2013b),":[449],"whose":[450],"purpose":[452],"cross":[455],"separates":[460],"optimized":[462],"those":[466],"observed":[467],"main":[473],"proposition":[474],"approach":[477],"make":[480],"optimization":[482,501,537,544,556],"aware":[484],"limits":[487],"simulation.":[490],"To":[491,529],"end,":[493],"transferred":[498],"during":[499],"regression":[504],"(here":[506],"SVM)":[508],"used":[510],"approximate":[512],"function":[514,640],"maps":[516],"difference":[522],"performance":[524,548],"reality.":[528,627],"use":[530],"approximated":[532,638],"transferability":[533,552,639,676],"function,":[534],"singleobjective":[536],"problem":[538],"transformed":[540],"into":[541],"multiobjective":[543],"both":[547,674],"maximized.":[554],"performed":[558],"multi-objective":[562],"(NSGA-II,":[565],"Deb":[566],"(2002)).":[569],"concepts":[572],"applied":[575],"design":[577],"fast":[579],"adaptation":[580,630],"resilient":[583],"robotics,":[584],"leading":[585],"we":[591],"called":[592],"\u201cT-Resilience\u201d":[593],"(for":[594],"Transferabilitybased":[595],"resilience).":[596],"damaged":[599,611],"embeds":[601],"itself,":[605],"rely":[609],"will":[613,618,634,656,665],"transferable:":[616],"perform":[619],"very":[620],"differently":[621],"During":[628],"process,":[631],"thus":[635],"create":[636],"classifies":[642],"as":[644,646,651],"\u201cworking":[645],"expected\u201d":[647],"\u201cnot":[649],"working":[650],"expected\u201d.":[652],"Hence":[653],"possess":[657],"\u201cintuition\u201d":[659],"damages":[662],"it":[664],"explicitly":[667],"represent":[668],"or":[669],"identify":[670],"them.":[671],"optimizing":[673],"ALIFE":[678],"14:":[679],"Proceedings":[680],"Fourteenth":[683],"International":[684],"Conference":[685],"Synthesis":[688],"Simulation":[690],"Living":[692],"Systems":[693],"\u22120.50":[694],"\u22120.25":[695],"0.00":[696],"0.25":[697],"0.50":[698],"0.75":[699],"1.00":[700]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-01-13T12:54:05.518873","created_date":"2020-05-13T00:00:00"}
