Artificial Life and Robotics最新文献

An evolutionary model of animats with VLM-based subjective evaluation 基于vlm主观评价的动物进化模型

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Artificial Life and Robotics Pub Date : 2026-07-21 DOI: 10.1007/s10015-026-01135-4

Shota Miyazaki, Takaya Arita, Reiji Suzuki

{"title":"An evolutionary model of animats with VLM-based subjective evaluation","authors":"Shota Miyazaki, Takaya Arita, Reiji Suzuki","doi":"10.1007/s10015-026-01135-4","DOIUrl":"10.1007/s10015-026-01135-4","url":null,"abstract":"<div><p>In this study, we propose a framework that incorporates subjective evaluations provided by a Vision-Language Model (VLM) into the fitness evaluation and selection processes of a genetic algorithm. As the target of evolution, we employ virtual soft robots with flexible morphologies and locomotion and present the VLM with sequence images representing the locomotion of two individuals. Selection is performed via pairwise comparisons based on subjective evaluation terms such as adorably and weirdly. The outcomes of these comparisons are used as selection pressure within the genetic algorithm, enabling the simultaneous evolution of morphology and locomotion. Experimental results demonstrate that subjective selection by the VLM accelerates population convergence compared to random selection, while also giving rise to distinctive morphologies and motions corresponding to each evaluation term. An auxiliary experiment with human participants further showed that, although individual pairwise choices only partly agreed with the VLM selections, the resulting morphological and locomotion tendencies were qualitatively similar and repeated human evaluations imposed noticeable fatigue. Moreover, the observation that similar evolutionary outcomes emerged across different evaluation terms suggests that the VLM does not apply these terms in a purely literal manner but instead decomposes them into multiple internal evaluation criteria when making judgments. This work visualizes the evolutionary process through which subjective linguistic expressions are mapped onto embodied phenotypes and provides a foundational framework for analyzing the structure of subjective judgment in VLMs. The proposed approach is expected to contribute to new developments in evolutionary computation and artificial life research based on subjective evaluation.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"31 3","pages":"737 - 752"},"PeriodicalIF":0.8,"publicationDate":"2026-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148695614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis of the distribution of the dorsal foot artery using pulse wave signals captured by a camera 利用相机捕捉的脉搏波信号分析足背动脉的分布

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Artificial Life and Robotics Pub Date : 2026-07-20 DOI: 10.1007/s10015-026-01137-2

Hibiki Endo, Masato Takahashi, Norimichi Tsumura

引用次数: 0

Introduction to robotic welding algorithm 机器人焊接算法简介

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Artificial Life and Robotics Pub Date : 2026-06-21 DOI: 10.1007/s10015-026-01133-6

Kangmin Noh, Hyunhwan Jeong

引用次数: 0

Adaptive dynamic sliding mode control for mobile robot trajectory tracking with nonholonomic constraints violation 非完整约束违反下移动机器人轨迹跟踪的自适应动态滑模控制

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Artificial Life and Robotics Pub Date : 2026-05-14 DOI: 10.1007/s10015-026-01127-4

Fateh Nezzar, Ali Mallem, Walid Benaziza, Rabie Belloumi

引用次数: 0

Two-stage identification of continuous-time Hammerstein systems using Gaussian process models 使用高斯过程模型的连续时间Hammerstein系统的两阶段辨识

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Artificial Life and Robotics Pub Date : 2026-05-13 DOI: 10.1007/s10015-026-01128-3

Tomohiro Hachino, Yuki Kawauchi

引用次数: 0

Multi-window parallel voxel transformer with center optimization strategy for 3D object detection 基于中心优化策略的多窗口并行体素变压器三维目标检测

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Artificial Life and Robotics Pub Date : 2026-05-11 DOI: 10.1007/s10015-026-01129-2

Zhiyuan Ma, Hui Wang, Jun Wang, Xin Zhang, Weibin Liu

{"title":"Multi-window parallel voxel transformer with center optimization strategy for 3D object detection","authors":"Zhiyuan Ma, Hui Wang, Jun Wang, Xin Zhang, Weibin Liu","doi":"10.1007/s10015-026-01129-2","DOIUrl":"10.1007/s10015-026-01129-2","url":null,"abstract":"<div><p>3D point clouds detection plays a critical role in autonomous driving, robotic control, intelligent manufacturing et al. Existing methods with single-sampling strategies may focus on long-range context, but lose fine-grained local details during feature aggregation. Moreover, the inherent sparsity of point cloud data also limits effective multi-scale feature learning, leading to degraded feature representations and inaccurate object location, particularly in complex scenarios. Thus, a multi-window parallel voxel transformer with center optimization strategy network is proposed in this paper, which integrates multiple sampling strategies and center optimization strategy into the transformer-based architectures to enhance multi-scale feature representation. Specifically, a multi-scale cross-attention module is introduced to fuse voxel features across different scales through parallel self-attention and multi-window sampling, enabling effective aggregation of both local and global information. Additionally, positional encoding is incorporated to enhance spatial awareness, improving the effectiveness of hybrid-scale feature aggregation. Furthermore, a novel center optimization strategy to mitigate localization errors caused by imprecise feature aggregation. Instead of relying on single voxel-based center, multiple candidate object centers are generated from high-confidence keypoint features and refined using confidence-weighted averaging. This confidence-aware refinement produces a more accurate and robust object center estimation, improving bounding box localization performance in sparse, occluded, or boundary-obscured scenarios.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"31 3","pages":"661 - 677"},"PeriodicalIF":0.8,"publicationDate":"2026-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148695154","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Peristaltic pump mechanism for differential bidirectional transport in a single channel 蠕动泵在单通道中进行差动双向输送的机制

IF 0.8

Artificial Life and Robotics Pub Date : 2026-04-27 DOI: 10.1007/s10015-026-01126-5

Yoshimune Tayama, Jun Ogawa, Hidemitsu Furukawa

{"title":"Peristaltic pump mechanism for differential bidirectional transport in a single channel","authors":"Yoshimune Tayama, Jun Ogawa, Hidemitsu Furukawa","doi":"10.1007/s10015-026-01126-5","DOIUrl":"10.1007/s10015-026-01126-5","url":null,"abstract":"<div><p>Peristaltic pumps are widely employed in fields such as medicine, food industries, and biotechnology. In nature, it is known that gastropods such as snails, which utilize peristaltic motion for locomotion, generate propulsion in the direction opposite to the propagation of their muscle contraction waves. Therefore, in this study, we developed a transport device capable of bidirectional transport within a single channel by employing a mechanism that mimics this gastropod peristalsis. The device is composed of a parallel link mechanism and a flexible silicone rubber tube, inducing continuous peristaltic motion in the tube solely through motor rotation. By utilizing eccentric shafts to generate waveform motion and continuously converting the force transmitted to the tube section, smooth wave-like motion was achieved. Experimental results demonstrated that while liquid is transported in the direction of wave propagation, slender objects constrained by the tube walls are transported in the opposite direction. This paper presents the proposal and analysis of this transport mechanism and aims to provide new insights into conventional fluid and object transport technologies.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"31 3","pages":"721 - 728"},"PeriodicalIF":0.8,"publicationDate":"2026-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-026-01126-5.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148695351","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-robot task planning for multi-object retrieval tasks with distributed on-site knowledge via large language models 基于大语言模型的分布式现场知识多机器人任务规划

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Artificial Life and Robotics Pub Date : 2026-04-27 DOI: 10.1007/s10015-026-01123-8

Kento Murata, Shoichi Hasegawa, Tomochika Ishikawa, Yoshinobu Hagiwara, Akira Taniguchi, Lotfi El Hafi , Tadahiro Taniguchi

{"title":"Multi-robot task planning for multi-object retrieval tasks with distributed on-site knowledge via large language models","authors":"Kento Murata, Shoichi Hasegawa, Tomochika Ishikawa, Yoshinobu Hagiwara, Akira Taniguchi, Lotfi El Hafi , Tadahiro Taniguchi","doi":"10.1007/s10015-026-01123-8","DOIUrl":"10.1007/s10015-026-01123-8","url":null,"abstract":"<div><p>It is crucial to efficiently execute instructions such as “Find an apple and a banana.” or “Get ready for a field trip,” which require searching for multiple objects or understanding context-dependent commands. This study addresses the challenging problem of determining which robot should be assigned to which part of a task when each robot possesses different situational on-site knowledge, specifically, room-wise object presence probabilities learned from the area designated to it by the user. We infer room-wise object presence probabilities via Bayesian inference using a spatial concept model. The inference results are then converted into prompts. Large language models (LLMs) use these prompts to decompose instructions into tasks and assign them to multiple robots. We designed a novel few-shot prompting strategy that enables LLMs to infer required objects from ambiguous commands and decompose them into appropriate subtasks. In our experiments, the proposed method achieved 47/50 successful assignments, outperforming random (28/50) and commonsense-based assignment (26/50). Furthermore, we conducted qualitative evaluations using two actual mobile manipulators. The results demonstrated that our framework could handle instructions, including underspecified instructions such as “Get ready for a field trip.”, by successfully performing task decomposition, assignment, sequential planning, and execution. For reproducibility, we release the full set of prompts on the project website at https://kentomurata0610.github.io/multi-robot-task-planning.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"31 2","pages":"418 - 432"},"PeriodicalIF":0.8,"publicationDate":"2026-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-026-01123-8.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147938437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Verification of air traffic management using flight model of urban air mobility under windy conditions 利用多风条件下城市空中机动性飞行模型验证空中交通管理

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Artificial Life and Robotics Pub Date : 2026-04-22 DOI: 10.1007/s10015-026-01125-6

Hibiki Uehara, Gaku Sato, Daichi Toratani, Shohei Kobayashi, Takehiro Higuchi

引用次数: 0

Towards Practical Cuffless Blood Pressure Estimation Using RGB–NIR Camera and Light Gradient Boosting Machine 用RGB-NIR相机和光梯度增强机实现无袖带血压测量

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Artificial Life and Robotics Pub Date : 2026-04-01 DOI: 10.1007/s10015-026-01124-7

Masaya Kinefuchi, Sae Kawasaki, Motoya Sato, Shoji Kawahito, Masato Takahashi, Norimichi Tsumura

{"title":"Towards Practical Cuffless Blood Pressure Estimation Using RGB–NIR Camera and Light Gradient Boosting Machine","authors":"Masaya Kinefuchi, Sae Kawasaki, Motoya Sato, Shoji Kawahito, Masato Takahashi, Norimichi Tsumura","doi":"10.1007/s10015-026-01124-7","DOIUrl":"10.1007/s10015-026-01124-7","url":null,"abstract":"<div><p>We investigated cuffless blood pressure estimation from facial videos using remote photoplethysmography (rPPG) with an RGB–NIR camera. We obtained data from 31 participants with a chin rest and five without a chin rest, and rPPG signals from the nasal and cheek regions were processed to extract waveform features. Blood pressure was estimated using a light gradient boosting machine (Light GBM) and evaluated using leave-one-subject-out (LOSO) and within-subject sixfold cross-validation. Compared with prior support vector regression, Light GBM showed improved accuracy (LOSO: systolic blood pressure (SBP), 11.9 mmHg; diastolic blood pressure (DBP), 6.7 mmHg; sixfold: SBP, 8.9 mmHg; DBP, 5.2 mmHg). According to British Hypertension Society (BHS) standards, DBP estimation achieved Grade A, whereas SBP was classified as Grade D, albeit close to Grade C. Shorter acquisition durations of 5 and 10 s, compared with the conventional 60 s recording, as well as chin rest-free measurements, demonstrated that cuffless blood pressure estimation was feasible in the absence of large facial motions that disrupted rPPG signals. These results demonstrate the feasibility of cuffless blood pressure estimation from RGB–NIR facial videos using Light GBM, particularly for DBP estimation.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"31 3","pages":"678 - 688"},"PeriodicalIF":0.8,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-026-01124-7.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148695174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0