Obstructed Tartarus, Generalizing a Grid Robot Task


The Tartarus task is a moderately difficult test problem in evolutionary robotics. There is a lack of other, closely related problems that can be used to provide additional challenges to an evolutionary robotics training system. In this paper the Tartarus task is made more difficult by putting a central obstruction on the board. Comparison is made with the original Tartarus task and the cross-problem competence of evolved robots is tested. This latter experiment checks the evolutionary mutual information for the two tasks, the degree to which training on one task pre-adapts evolved controllers to another. It is found that obstructed Tartarus requires roughly 50% more moves and that the two problems have evolutionary mutual information.

  • Abstract
  • 1 Introduction
  • 2 The Representation
  • 3 Experimental Design
  • 4 Results and Discussion
  • Acknowledgments
  • References
Topics: Robots

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