{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T19:45:25Z","timestamp":1774381525963,"version":"3.50.1"},"reference-count":53,"publisher":"MIT Press - Journals","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Evolutionary Computation"],"published-print":{"date-parts":[[2016,3]]},"abstract":"<jats:p> Numerous algorithms have been proposed to allow legged robots to learn to walk. However, most of these algorithms are devised to learn walking in a straight line, which is not sufficient to accomplish any real-world mission. Here we introduce the Transferability-based Behavioral Repertoire Evolution algorithm (TBR-Evolution), a novel evolutionary algorithm that simultaneously discovers several hundreds of simple walking controllers, one for each possible direction. By taking advantage of solutions that are usually discarded by evolutionary processes, TBR-Evolution is substantially faster than independently evolving each controller. Our technique relies on two methods: (1) novelty search with local competition, which searches for both high-performing and diverse solutions, and (2) the transferability approach, which combines simulations and real tests to evolve controllers for a physical robot. We evaluate this new technique on a hexapod robot. Results show that with only a few dozen short experiments performed on the robot, the algorithm learns a repertoire of controllers that allows the robot to reach every point in its reachable space. Overall, TBR-Evolution introduced a new kind of learning algorithm that simultaneously optimizes all the achievable behaviors of a robot. <\/jats:p>","DOI":"10.1162\/evco_a_00143","type":"journal-article","created":{"date-parts":[[2015,1,13]],"date-time":"2015-01-13T21:56:04Z","timestamp":1421186164000},"page":"59-88","source":"Crossref","is-referenced-by-count":54,"title":["Evolving a Behavioral Repertoire for a Walking Robot"],"prefix":"10.1162","volume":"24","author":[{"given":"A.","family":"Cully","sequence":"first","affiliation":[{"name":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, Paris, France CNRS, UMR 7222, ISIR, F-75005, Paris, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.-B.","family":"Mouret","sequence":"additional","affiliation":[{"name":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, F-75005, Paris, France CNRS, UMR 7222, ISIR, F-75005, Paris, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"281","reference":[{"key":"B1","first-page":"112","volume-title":"Proceedings of the International Conference on Development and Learning","author":"Barto A.","year":"2004"},{"key":"B2","doi-asserted-by":"publisher","DOI":"10.1109\/EH.2005.30"},{"key":"B4","doi-asserted-by":"publisher","DOI":"10.1145\/2492007.2493883"},{"key":"B3","doi-asserted-by":"publisher","DOI":"10.1126\/science.1133687"},{"key":"B5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907117"},{"key":"B6","doi-asserted-by":"publisher","DOI":"10.1145\/1961189.1961199"},{"key":"B7","first-page":"2562","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Chernova S.","year":"2004"},{"key":"B8","doi-asserted-by":"publisher","DOI":"10.1109\/TEVC.2010.2104157"},{"key":"B9","doi-asserted-by":"publisher","DOI":"10.1145\/2463372.2463399"},{"key":"B10","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(91)90024-E"},{"key":"B11","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.1990.137891"},{"key":"B12","doi-asserted-by":"publisher","DOI":"10.21236\/ADA254568"},{"key":"B13","doi-asserted-by":"publisher","DOI":"10.1109\/4235.996017"},{"key":"B15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225199"},{"key":"B16","first-page":"745","volume-title":"Proceedings of the International Symposium on Artificial Life and Robots","author":"Filliat D.","year":"1999"},{"key":"B17","doi-asserted-by":"publisher","DOI":"10.1177\/105971239400300202"},{"key":"B18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839222"},{"key":"B19","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"B20","doi-asserted-by":"publisher","DOI":"10.1126\/science.1138353"},{"key":"B21","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1991.3.1.79"},{"key":"B22","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-59496-5_337"},{"key":"B23","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2001.980135"},{"key":"B24","doi-asserted-by":"publisher","DOI":"10.1109\/72.712153"},{"key":"B26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913499192"},{"key":"B27","doi-asserted-by":"publisher","DOI":"10.1109\/TEVC.2012.2185849"},{"key":"B28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"B29","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"B30","doi-asserted-by":"publisher","DOI":"10.1162\/EVCO_a_00025"},{"key":"B31","doi-asserted-by":"publisher","DOI":"10.1145\/2001576.2001606"},{"key":"B32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.220047"},{"key":"B33","first-page":"944","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Lizotte D. 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