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ResiBots SIGNED

Robots with animal-like resilience

Total Cost €

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EC-Contrib. €

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Partnership

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Project "ResiBots" data sheet

The following table provides information about the project.

Coordinator
INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE 

Organization address
address: DOMAINE DE VOLUCEAU ROCQUENCOURT
city: LE CHESNAY CEDEX
postcode: 78153
website: www.inria.fr

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country France [FR]
 Project website http://www.resibots.eu
 Total cost 1˙499˙501 €
 EC max contribution 1˙499˙501 € (100%)
 Programme 1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC))
 Code Call ERC-2014-STG
 Funding Scheme ERC-STG
 Starting year 2015
 Duration (year-month-day) from 2015-05-01   to  2020-10-31

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE FR (LE CHESNAY CEDEX) coordinator 1˙499˙501.00

Map

 Project objective

Despite over 50 years of research in robotics, most existing robots are far from being as resilient as the simplest animals: they are fragile machines that easily stop functioning in difficult conditions. The goal of this proposal is to radically change this situation by providing the algorithmic foundations for low-cost robots that can autonomously recover from unforeseen damages in a few minutes. The current approach to fault tolerance is inherited from safety-critical systems (e.g. spaceships or nuclear plants). It is inappropriate for low-cost autonomous robots because it relies on diagnostic procedures, which require expensive proprioceptive sensors, and contingency plans, which cannot cover all the possible situations that an autonomous robot can encounter. It is here contended that trial-and-error learning algorithms provide an alternate approach that does not require diagnostic, nor pre-defined contingency plans. In this project, we will develop and study a novel family of such learning algorithms that make it possible for autonomous robots to quickly discover compensatory behaviors. We will thus shed a new light on one of the most fundamental questions of robotics: how can a robot be as adaptive as an animal? The techniques developed in this project will substantially increase the lifespan of robots without increasing their cost and open new research avenues for adaptive machines.

 Publications

year authors and title journal last update
List of publications.
2018 Hoffman , Enrico ,; Clement , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena
Whole-Body Compliant Control of iCub: first results with OpenSoT
published pages: , ISSN: , DOI:
IEEE/RAS ICRA Workshop on Dynamic Legged Locomotion in Realistic Terrains, 2020-03-20
2019 Waldez Gomes,Vishnu Radhakrishnan, Luigi Penco, Valerio Modugno, Jean-Baptiste Mouret, Serena Ivaldi
Humanoid Whole-Body Movement Optimization from Retargeted Human Motions
published pages: , ISSN: , DOI:
IEEE Conference on Humanoid Robots 2020-03-20
2019 David Howard, Agoston E. Eiben, Danielle Frances Kennedy, Jean-Baptiste Mouret, Philip Valencia, Dave Winkler
Evolving embodied intelligence from materials to machines
published pages: 12-19, ISSN: 2522-5839, DOI: 10.1038/s42256-018-0009-9
Nature Machine Intelligence 1/1 2020-03-20
2019 Supratik Paul, Konstantinos Chatzilygeroudis, Kamil Ciosek, Jean-Baptiste Mouret, Michael A. Osborne, Shimon Whiteson
Alternating Optimisation and Quadrature for Robust Control
published pages: , ISSN: , DOI:
Thirty-Second AAAI Conference on Artificial Intelligence 2020-03-20
2020 Dalin, Eloïse; Desreumaux, Pierre; Mouret, Jean-Baptiste
\"Learning and adapting quadruped gaits with the \"\"Intelligent Trial & Error\"\" algorithm\"
published pages: , ISSN: , DOI:
\"IEEE ICRA workshop \"\"Learning Legged Locomotion\"\"\" 2020-03-20
2018 Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards
published pages: , ISSN: , DOI:
Conference on Robot Learning (CoRL 2018) 3 2020-03-20
2018 Pautrat , Rémi; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search
published pages: , ISSN: , DOI:
ICRA 2018 - International Conference on Robotics and Automation 1 2020-03-20
2018 Vassiliades, Vassilis; Mouret, Jean-Baptiste
Discovering the Elite Hypervolume by Leveraging Interspecies Correlation
published pages: , ISSN: , DOI:
GECCO 2018 - Genetic and Evolutionary Computation Conference 2020-03-20
2015 Antoine Cully, Jeff Clune, Danesh Tarapore, Jean-Baptiste Mouret
Robots that can adapt like animals
published pages: 503-507, ISSN: 0028-0836, DOI: 10.1038/nature14422
Nature 521/7553 2020-03-20
2016 Mouret, Jean-Baptiste
Micro-Data Learning: The Other End of the Spectrum
published pages: 18-19, ISSN: 0926-4981, DOI:
ERCIM News 1 2020-03-20
2016 Mengistu , Henok; Huizinga , Joost; Mouret , Jean-Baptiste; Clune , Jeff
The Evolutionary Origins of Hierarchy
published pages: , ISSN: 1932-6203, DOI: 10.1371/journal.pcbi.1004829.s021
PLoS Computational Biology 5 2020-03-20
2016 Papaspyros, Vaios; Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Mouret, Jean-Baptiste
Safety-Aware Robot Damage Recovery Using Constrained Bayesian Optimization and Simulated Priors
published pages: , ISSN: , DOI:
Bayesian Optimization: Black-box Optimization and Beyond (workshop at NIPS) 1 2020-03-20
2018 John Rieffel, Jean-Baptiste Mouret
Adaptive and Resilient Soft Tensegrity Robots
published pages: , ISSN: 2169-5180, DOI: 10.1089/soro.2017.0066
Soft Robotics 2020-03-20
2018 Adam Gaier, Alexander Asteroth, Jean-Baptiste Mouret
Data-Efficient Design Exploration through Surrogate-Assisted Illumination
published pages: 1-30, ISSN: 1063-6560, DOI: 10.1162/evco_a_00231
Evolutionary Computation 2020-03-20
2016 Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste; Cully, Antoine
Towards semi-episodic learning for robot damage recovery
published pages: , ISSN: , DOI:
Workshop on AI for Long-Term Autonomy at the IEEE International Conference on Robotics and Automation (ICRA) 1 2020-03-20
2018 Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Jean-Baptiste Mouret
Reset-free Trial-and-Error Learning for Robot Damage Recovery
published pages: 236-250, ISSN: 0921-8890, DOI: 10.1016/j.robot.2017.11.010
Robotics and Autonomous Systems 100 2020-03-20
2018 Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics
published pages: , ISSN: , DOI:
ICRA 2018 - International Conference on Robotics and Automation 2020-03-20
2017 Vassilis Vassiliades, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
Using Centroidal Voronoi Tessellations to Scale Up the Multi-dimensional Archive of Phenotypic Elites Algorithm
published pages: 1-1, ISSN: 1089-778X, DOI: 10.1109/TEVC.2017.2735550
IEEE Transactions on Evolutionary Computation 2020-03-20

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