Antoine Cully

PhD in Robotics and Artificial Intelligence

Videos

This page presents several videos illustrating different experimental results.

Damage Recovery in Robots via Intelligent Trial and Error


caption: The video shows the Intelligent Trial and Error Algorithm in action on the two experimental robots in this paper: a hexapod robot and a robotic arm. The video shows several examples of the different types of behaviors that are produced during the behavior-performance map creation step, from classic hexapod gaits to more unexpected forms of locomotion. Then, it shows how the hexapod robot uses that behavior-performance map to adapt to damage that deprives one of its legs of power. The video also illustrates how the Intelligent Trial and Error Algorithm also finds a compensatory behavior for the robot arm. Finally, adaptation to a second damage condition is shown for both the hexapod and robotic arm.

This video can be downloaded here

A Behavior-Performance Map Containing Many Different Types of Walking Gaits.

caption: In the behavior-performance map creation step, the MAP-Elites algorithm produces a diverse collection of different types of walking gaits. The video shows several examples of the different types of behaviors that are produced, from classic hexapod gaits to more unexpected forms of locomotion.

This video can be downloaded here
A. Cully, J. Clune, D. Tarapore and J.-B. Mouret. Robots that can adapt like animals., Nature. 2015.

[More press material]



T-Resilience: fast resilience in robotics




S. Koos, A. Cully and J.-B. Mouret. Fast Damage Recovery in Robotics with the T-Resilience Algorithm, International Journal of Robotics Research. 2013. [pdf]

TBR-learning: learning a full behavioral repertoire



A. Cully and J.-B. Mouret. Evolving a Behavioral Repertoire for a Walking Robot., Evolutionary Computation Journal. 2015. [pdf]
A. Cully and J.-B. Mouret. Behavioral Repertoire Learning in Robotics., Genetic and Evolutionary Computation Conference (GECCO). 2013. [pdf]