Evolutionary Robotics The Genotype-to-Phenotype Map The genotype to phenotype map: the algorithm that transforms the genotype into the phenotype. Direct mapping: Each element in the genotype code for one element in the phenotype. Indirect mapping: Each element in the genotype codes for, or influences, zero or more elements in the phenotype. [0.8, 1.0, -0.9, … , -0.2] 0.8 -0.2
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Evolutionary Robotics The Genotype-to-Phenotype Map The genotype to phenotype map: the algorithm that transforms the genotype into the phenotype. Direct.
Evolutionary Robotics The Genotype-to-Phenotype Map More biologically realistic. Example: Genetic Regulatory Networks Bongard, J. C. and R. Pfeifer (2001) Repeated Structure and Dissociation of Genotypic and Phenotypic Complexity in Artificial Ontogeny, in Proceedings of The Genetic and Evolutionary Computation Conference, GECCO pp
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Bongard, J. C. and R. Pfeifer (2001) Repeated Structure and Dissociation of Genotypic and Phenotypic Complexity in Artificial Ontogeny, in Proceedings of The Genetic and Evolutionary Computation Conference, GECCO-2001. pp. 829-836.
Bongard, J. C. and R. Pfeifer (2001) Repeated Structure and Dissociation of Genotypic and Phenotypic Complexity in Artificial Ontogeny, in Proceedings of The Genetic and Evolutionary Computation Conference, GECCO-2001. pp. 829-836.
The growing robot body and brain
The genome, a copy of which resides in each morphological unit
Transcription factors, produced by genescontained in the genome, diffuse through the robot's body, causing phenotypic change
Evolutionary Robotics
The genome, a copy of which resides in each morphological unit
Evolutionary Robotics
A B C
If gene A is on,It tries to turn gene C on: gene A “enhances” gene C.
If gene B is on,It tries to turn gene C off: gene A “represses” gene B.