Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

author = {Cully, A},
doi = {10.1145/3449639.3459326},
pages = {84--92},
publisher = {ACM},
title = {Multi-Emitter MAP-Elites: Improving quality, diversity and convergence speed with heterogeneous sets of emitters},
url = {},
year = {2021}

RIS format (EndNote, RefMan)

AB - Quality-Diversity (QD) optimisation is a new family of learning algorithmsthat aims at generating collections of diverse and high-performing solutions.Among those algorithms, MAP-Elites is a simple yet powerful approach that hasshown promising results in numerous applications. In this paper, we introduce anovel algorithm named Multi-Emitter MAP-Elites (ME-MAP-Elites) that improvesthe quality, diversity and convergence speed of MAP-Elites. It is based on therecently introduced concept of emitters, which are used to drive thealgorithm's exploration according to predefined heuristics. ME-MAP-Elitesleverages the diversity of a heterogeneous set of emitters, in which eachemitter type is designed to improve differently the optimisation process.Moreover, a bandit algorithm is used to dynamically find the best emitter setdepending on the current situation. We evaluate the performance ofME-MAP-Elites on six tasks, ranging from standard optimisation problems (in 100dimensions) to complex locomotion tasks in robotics. Our comparisons againstMAP-Elites and existing approaches using emitters show that ME-MAP-Elites isfaster at providing collections of solutions that are significantly morediverse and higher performing. Moreover, in the rare cases where no fruitfulsynergy can be found between the different emitters, ME-MAP-Elites isequivalent to the best of the compared algorithms.
AU - Cully,A
DO - 10.1145/3449639.3459326
EP - 92
PY - 2021///
SP - 84
TI - Multi-Emitter MAP-Elites: Improving quality, diversity and convergence speed with heterogeneous sets of emitters
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ER -