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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Quality-Diversity Meta-Evolution: customising behaviour s...
David M. Bossens, Danesh Tarapore · 2021-09-09 · via cs.RO updates on arXiv.org

Quality-Diversity (QD) algorithms evolve behaviourally diverse and high-performing solutions. To illuminate the elite solutions for a space of behaviours, QD algorithms require the definition of a suitable behaviour space. If the behaviour space is high-dimensional, a suitable dimensionality reduction technique is required to maintain a limited number of behavioural niches. While current methodologies for automated behaviour spaces focus on changing the geometry or on unsupervised learning, there remains a need for customising behavioural diversity to a particular meta-objective specified by the end-user. In the newly emerging framework of QD Meta-Evolution, or QD-Meta for short, one evolves a population of QD algorithms, each with different algorithmic and representational characteristics, to optimise the algorithms and their resulting archives to a user-defined meta-objective. Despite promising results compared to traditional QD algorithms, QD-Meta has yet to be compared to state-of-the-art behaviour space automation methods such as Centroidal Voronoi Tessellations Multi-dimensional Archive of Phenotypic Elites Algorithm (CVT-MAP-Elites) and Autonomous Robots Realising their Abilities (AURORA). This paper performs an empirical study of QD-Meta on function optimisation and multilegged robot locomotion benchmarks. Results demonstrate that QD-Meta archives provide improved average performance and faster adaptation to a priori unknown changes to the environment when compared to CVT-MAP-Elites and AURORA. A qualitative analysis shows how the resulting archives are tailored to the meta-objectives provided by the end-user.