In medical-related tasks, soft robots can perform better than conventional robots because of their compliant building materials and the movements they are able perform. However, designing soft robot controllers is not an easy task, due to the non-linear properties of their materials. Since human expertise to design such controllers is yet not sufficiently effective, a formal design process is needed. The present research proposes neuroevolution-based algorithms as the core mechanism to automatically generate controllers for biohybrid actuators that can be used on future medical devices, such as a catheter that will deliver drugs. The controllers generated by methodologies based on Neuroevolution of Augmenting Topologies (NEAT) and Hypercube-based NEAT (HyperNEAT) are compared against the ones generated by a standard genetic algorithm (SGA). In specific, the metrics considered are the maximum displacement in upward bending movement and the robustness to control different biohybrid actuator morphologies without redesigning the control strategy. Results indicate that the neuroevolution-based algorithms produce better suited controllers than the SGA. In particular, NEAT designed the best controllers, achieving up to 25% higher displacement when compared with SGA-produced specialised controllers trained over a single morphology and 23% when compared with general purpose controllers trained over a set of morphologies.

Soft robots diverge from traditional rigid robotics, offering unique advantages in adaptability, safety, and human-robot interaction. In some cases, soft robots can be powered by biohybrid actuators and the design process of these systems is far from straightforward. We analyse here two algorithms that may assist the design of these systems, namely, NEAT (NeuroEvolution of Augmented Topologies) and HyperNEAT (Hypercube-based NeuroEvolution of Augmented Topologies). These algorithms exploit the evolution of the structure of actuators encoded through neural networks. To evaluate these algorithms, we compare them with a similar approach using the Age Fitness Pareto Optimization (AFPO) algorithm, with a focus on assessing the maximum displacement achieved by the discovered biohybrid morphologies. Additionally, we investigate the effects of optimization against both the volume of these morphologies and the distance they can cover. To further accelerate the computational process, the proposed methodology is implemented in a client-server setting; so, the most demanding calculations can be executed on specialized and efficient hardware. The results indicate that the HyperNEAT-based approach excels in identifying morphologies with minimal volumes that still achieve satisfactory displacement targets.

We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one fixed robot morphology we consider a test suite of different modular robots. This study is based on our interest in evolutionary robot systems where both morphologies and controllers evolve. In such a system, newborn robots have to learn to control their own body that is a random combination of the bodies of the parents. We apply and compare two learning algorithms, Bayesian optimization and HyperNEAT. The results of the experiments in simulation show that both methods successfully learn good controllers, but Bayesian optimization is more effective and efficient. We validate the best learned controllers by constructing three robots from the test suite in the real world and observe their fitness and actual trajectories. The obtained results indicate a reality gap that depends on the controllers and the shape of the robots, but overall the trajectories are adequate and follow the target directions successfully.

I often get asked on how to get started with Machine Learning. Most of the time, people have troubles understanding the maths behind all things. And I have to admit, I don't like the maths either. Math is an abstract way of describing things. And I think the way machine learning is described is too abstract to understand it easily. I probably try to describe things with foo code or a bit of JS to explain what I'm talking about.

I often get asked on how to get started with Machine Learning. Most of the time, people have troubles understanding the maths behind all things. And I have to admit, I don't like the maths either. Math is an abstract way of describing things. And I think the way machine learning is described is too abstract to understand it easily. I probably try to describe things with foo code or a bit of JS to explain what I'm talking about.

I often get asked on how to get started with Machine Learning. Most of the time, people have troubles understanding the maths behind all things. And I have to admit, I don't like the maths either. Math is an abstract way of describing things. And I think the way machine learning is described is too abstract to understand it easily. I probably try to describe things with foo code or a bit of JS to explain what I'm talking about.

The increasing realization in recent years that artificial In particular, there is an alternative kind of discriminative neural networks (ANNs) can learn many layers of features learning that is unsupervised rather than supervised. In this (Bengio et al. 2007; Hinton, Osindero, and Teh 2006; proposed alternative approach, called divergent discriminative Marc'Aurelio, Boureau, and LeCun 2007; Cireşan et al. feature accumulation (DDFA), instead of searching for 2010) has reinvigorated the study of representation learning features constrained by the objective of solving the discriminative in ANNs (Bengio, Courville, and Vincent 2013). While classification problem, a learning algorithm can instead the beginning of this renaissance focused on the sequential attempt to collect as many features that discriminate unsupervised training of individual layers one upon another strongly among training examples as possible, without regard (Bengio et al. 2007; Hinton, Osindero, and Teh 2006), the to any particular classification problem.