Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Data-efficient Co-Adaptation of Morphology and Behaviour with Deep
  Reinforcement Learning   Humans and animals are capable of quickly learning new behaviours to solve
new tasks. Yet, we often forget that they also rely on a highly specialized
morphology that co-adapted with motor control throughout thousands of years.
Although compelling, the idea of co-adapting morphology and behaviours in
robots is often unfeasible because of the long manufacturing times, and the
need to re-design an appropriate controller for each morphology. In this paper,
we propose a novel approach to automatically and efficiently co-adapt a robot
morphology and its controller. Our approach is based on recent advances in deep
reinforcement learning, and specifically the soft actor critic algorithm. Key
to our approach is the possibility of leveraging previously tested morphologies
and behaviors to estimate the performance of new candidate morphologies. As
such, we can make full use of the information available for making more
informed decisions, with the ultimate goal of achieving a more data-efficient
co-adaptation (i.e., reducing the number of morphologies and behaviors tested).
Simulated experiments show that our approach requires drastically less design
prototypes to find good morphology-behaviour combinations, making this method
particularly suitable for future co-adaptation of robot designs in the real
world.

37
The categories of this paper are: supr-con
35
The categories of this paper are: mtrl-th
11
The categories of this paper are: hep-lat
29
The categories of this paper are: funct-an
23
The categories of this paper are: solv-int
8
The categories of this paper are: hep-ex
6
The categories of this paper are: astro-ph
24
The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
31
The categories of this paper are: ao-sci
28
The categories of this paper are: alg-geom
13
The categories of this paper are: quant-ph
15
The categories of this paper are: nucl-ex
12
The categories of this paper are: nucl-th
4
The categories of this paper are: cond-mat
7
The categories of this paper are: hep-th