An overview on automatic design of robot controllers for complex tasks

TL;DR

This paper reviews various methodologies for automatically designing robot controllers for complex, multi-level tasks, emphasizing the importance of understanding evolutionary setups and strategies to overcome bootstrapping challenges.

Contribution

It provides a comprehensive overview of existing approaches and strategies for automatic robot controller design, focusing on complex tasks and the bootstrapping problem.

Findings

Different methodologies for controller design are compared.

Strategies to overcome bootstrapping challenges are discussed.

Understanding evolutionary setup elements is crucial for tackling complex tasks.

Abstract

In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good understanding of your evolutionary setup is needed to choose the correct strategy with which to tackle complex tasks thus we'll first review the most used types of each element composing an evolutionary setup (controllers, objective functions, ect.) then we'll move the focus on the bootstrapping problem and on the different strategies used to overcome it.