{"id":"https://openalex.org/W2026723619","doi":"https://doi.org/10.1109/cec.2009.4983077","title":"Overcoming the bootstrap problem in evolutionary robotics using behavioral diversity","display_name":"Overcoming the bootstrap problem in evolutionary robotics using behavioral diversity","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2026723619","doi":"https://doi.org/10.1109/cec.2009.4983077","mag":"2026723619"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2009.4983077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00473147/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032227198","display_name":"Jean-Baptiste Mouret","orcid":"https://orcid.org/0000-0002-2513-027X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"funder","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Baptiste Mouret","raw_affiliation_strings":["Universit\u00e9 Pierre et Marie Curie (UPMC) - Paris 6, Institut des Syst\u00e8mes Intelligents et de Robotique (ISIR), CNRS UMR 7222, F-75005, France"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Pierre et Marie Curie (UPMC) - Paris 6, Institut des Syst\u00e8mes Intelligents et de Robotique (ISIR), CNRS UMR 7222, F-75005, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003629424","display_name":"St\u00e9phane Doncieux","orcid":"https://orcid.org/0000-0003-1541-054X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"funder","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Doncieux","raw_affiliation_strings":["Universit\u00e9 Pierre et Marie Curie (UPMC) - Paris 6, Institut des Syst\u00e8mes Intelligents et de Robotique (ISIR), CNRS UMR 7222, F-75005, France"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Pierre et Marie Curie (UPMC) - Paris 6, Institut des Syst\u00e8mes Intelligents et de Robotique (ISIR), CNRS UMR 7222, F-75005, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":110,"citation_normalized_percentile":{"value":0.993047,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1161","last_page":"1168"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9993,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9993,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9976,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9951,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.87603843},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm Robotics","score":0.59468824}],"concepts":[{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.87603843},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.705625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7051981},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.59468824},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5473752},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5346448},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.5182769},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.5067778},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5013964},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.46109688},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38137773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37950844},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2009.4983077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-00473147","pdf_url":"https://hal.science/hal-00473147/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-00473147/file/mouret.pdf","pdf_url":"https://hal.science/hal-00473147/file/mouret.pdf","source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-00473147/document","pdf_url":"https://hal.archives-ouvertes.fr/hal-00473147/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-00473147/file/mouret.pdf","pdf_url":"https://hal.archives-ouvertes.fr/hal-00473147/file/mouret.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://hal.science/hal-00473147","pdf_url":"https://hal.science/hal-00473147/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.48,"display_name":"Life on land"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":44,"referenced_works":["https://openalex.org/W108113315","https://openalex.org/W121239838","https://openalex.org/W1502374754","https://openalex.org/W1515851193","https://openalex.org/W1525091079","https://openalex.org/W1537751433","https://openalex.org/W1545918039","https://openalex.org/W1565374082","https://openalex.org/W1584640519","https://openalex.org/W1585939719","https://openalex.org/W1591385173","https://openalex.org/W1595498733","https://openalex.org/W1597668349","https://openalex.org/W1608391772","https://openalex.org/W1612556207","https://openalex.org/W1694594565","https://openalex.org/W1828108840","https://openalex.org/W191292346","https://openalex.org/W1996190897","https://openalex.org/W2001773175","https://openalex.org/W2001988724","https://openalex.org/W2004859299","https://openalex.org/W2012459404","https://openalex.org/W2052355004","https://openalex.org/W2076103977","https://openalex.org/W2095295133","https://openalex.org/W2100097207","https://openalex.org/W2111935653","https://openalex.org/W2121863487","https://openalex.org/W2124290836","https://openalex.org/W2126105956","https://openalex.org/W2126926002","https://openalex.org/W2131329716","https://openalex.org/W2133787071","https://openalex.org/W2142619464","https://openalex.org/W2154022540","https://openalex.org/W2159096063","https://openalex.org/W2162550735","https://openalex.org/W2164722364","https://openalex.org/W2171658832","https://openalex.org/W2261054240","https://openalex.org/W2486609979","https://openalex.org/W4214717370","https://openalex.org/W4256707306"],"related_works":["https://openalex.org/W4390006973","https://openalex.org/W4281553566","https://openalex.org/W4244439390","https://openalex.org/W2962829499","https://openalex.org/W2887326407","https://openalex.org/W2809830912","https://openalex.org/W2588664896","https://openalex.org/W2146009892","https://openalex.org/W1996542214","https://openalex.org/W1994019810"],"abstract_inverted_index":{"The":[0],"bootstrap":[1],"problem":[2],"is":[3,128],"often":[4],"recognized":[5],"as":[6],"one":[7,127],"of":[8,12,39,79,107],"the":[9,19,27,49,105,125],"main":[10],"challenges":[11],"evolutionary":[13,28,50,85],"robotics:":[14],"if":[15],"all":[16],"individuals":[17],"from":[18],"first":[20],"randomly":[21],"generated":[22],"population":[23],"perform":[24],"equally":[25],"poorly,":[26],"process":[29,51],"won't":[30],"generate":[31],"any":[32],"interesting":[33],"solution.":[34],"To":[35,59],"overcome":[36],"this":[37],"lack":[38],"fitness":[40],"gradient,":[41],"we":[42,62],"propose":[43],"to":[44,95],"efficiently":[45],"explore":[46],"behaviors":[47,77],"until":[48],"finds":[52],"an":[53,64],"individual":[54],"with":[55,117],"a":[56,74,96,108,111],"non-minimal":[57],"fitness.":[58],"that":[60,71],"aim,":[61],"introduce":[63],"original":[65],"diversity-preservation":[66],"mechanism,":[67],"called":[68],"behavioral":[69],"diversity,":[70],"relies":[72],"on":[73,104],"distance":[75],"between":[76],"(instead":[78],"genotypes":[80],"or":[81],"phenotypes)":[82],"and":[83,93],"multi-objective":[84],"optimization.":[86],"This":[87],"approach":[88],"has":[89],"been":[90],"successfully":[91],"tested":[92],"compared":[94],"recently":[97],"published":[98],"incremental":[99],"evolution":[100,106],"method":[101],"(multi-subgoal":[102],"evolution)":[103],"neuro-controller":[109],"for":[110],"light-seeking":[112],"mobile":[113],"robot.":[114],"Results":[115],"obtained":[116],"these":[118],"two":[119],"approaches":[120],"are":[121],"qualitatively":[122],"similar":[123],"although":[124],"introduced":[126],"less":[129],"directed":[130],"than":[131],"multi-subgoal":[132],"evolution.":[133]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2026723619","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":7}],"updated_date":"2025-04-19T03:13:51.540242","created_date":"2016-06-24"}