The Search for a Bridge Over the Reality Gap: Effects of interleaving interval duration and quantity
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2008-01-24
Language
en
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Abstract
In Evolutionary Robotics, simulators are used to speed up the lengthy process of
evolving control structures for real world robots. The downside of this approach is
that control structures evolved solely in simulation tend to perform not as good in the
real world as they did in the simulation. This drop in performance has come to be
known as the `reality gap'. Interleaving simulation with real world in the evolutionary
process is a newly proposed method which might help to bridge this gap, but it lacks
solid empirical proof. In this study, a systematical experiment was done in which the
same proportion of generations was di ered in the amount of interleavement over three
conditions. Interleaving was found to have no signi cant e ect on the nal tness values
of the control structures. However, the amount of consecutive real world generations
was found to have a positive e ect on the nal tness. Unfortunately, it is hard to
reach de nite conclusions because of time constraints involved with a Bachelor's Thesis
and the stochasticity of the evolutionary algorithm.
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Faculteit der Sociale Wetenschappen