Search Results for author: Vytas SunSpiral

Found 2 papers, 0 papers with code

Scalable Co-Optimization of Morphology and Control in Embodied Machines

no code implementations19 Jun 2017 Nick Cheney, Josh Bongard, Vytas SunSpiral, Hod Lipson

In psychology, the theory of embodied cognition posits that behavior arises from a close coupling between body plan and sensorimotor control, which suggests why co-optimizing these two subsystems is so difficult: most evolutionary changes to morphology tend to adversely impact sensorimotor control, leading to an overall decrease in behavioral performance.

Deep Reinforcement Learning for Tensegrity Robot Locomotion

no code implementations28 Sep 2016 Marvin Zhang, Xinyang Geng, Jonathan Bruce, Ken Caluwaerts, Massimo Vespignani, Vytas SunSpiral, Pieter Abbeel, Sergey Levine

We evaluate our method with real-world and simulated experiments on the SUPERball tensegrity robot, showing that the learned policies generalize to changes in system parameters, unreliable sensor measurements, and variation in environmental conditions, including varied terrains and a range of different gravities.


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