@phdthesis{nygaard2020legging,author={Nygaard, T\o{}nnes F.},title={{Legging It: An Evolutionary Approach to Morphological Adaptation for a Real-World Quadruped Robot}},year={2020},publisher={Universitetet i Oslo},}
Journal papers
GPEM
Reward tampering and evolutionary computation: a study of concrete AI safety problems using evolutionary algorithms
Nilsen, Mathias K.,
Nygaard, Tønnes F., and Ellefsen, Kai O.
Genetic Programming and Evolvable Machines Journal 2023
@article{nilsen2023reward,author={Nilsen, Mathias K. and Nygaard, T{\o}nnes F. and Ellefsen, Kai O.},title={Reward tampering and evolutionary computation: a study of concrete AI safety problems using evolutionary algorithms},journal={Genetic Programming and Evolvable Machines Journal},pages={12},volume={24},number={2},year={2023},publisher={Springer Nature},doi={10.1007/s10710-023-09456-0},}
N:MI
Real-world Embodied AI Through a Morphologically Adaptive Quadruped Robot
Nygaard, Tønnes F., Martin, Charles P., Torresen, Jim, Glette, Kyrre, and Howard, David
@article{nygaard2021real,author={Nygaard, T{\o}nnes F. and Martin, Charles P. and Torresen, Jim and Glette, Kyrre and Howard, David},title={{Real-world Embodied AI Through a Morphologically Adaptive Quadruped Robot}},journal={Nature Machine Intelligence},pages={410--419},volume={3},number={5},year={2021},publisher={Nature Publishing Group},doi={10.1038/s42256-021-00320-3},video={https://www.youtube.com/watch?v=Oug9pkZMUnc}}
ECJ
Environmental Adaptation of Robot Morphology and Control Through Real-world Evolution
Nygaard, Tønnes F., Martin, Charles P., Howard, David, Torresen, Jim, and Glette, Kyrre
@article{nygaard2021environmental,author={Nygaard, T{\o}nnes F. and Martin, Charles P. and Howard, David and Torresen, Jim and Glette, Kyrre},title={{Environmental Adaptation of Robot Morphology and Control Through Real-world Evolution}},journal={Evolutionary Computation},pages={1-21},year={2021},issn={1063-6560},publisher={MIT Press},doi={10.1162/evco\_a\_00291},}
RAL
Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification
Ahmadi, Ahmedreza,
Nygaard, Tønnes F., Kottege, Navinda, Howard, David, and Hudson, Nicolas
@article{ahmadi2021semi,author={Ahmadi, Ahmedreza and Nygaard, T{\o}nnes F. and Kottege, Navinda and Howard, David and Hudson, Nicolas},journal={Robotics and Automation Letters},publisher={IEEE},title={{Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification}},year={2021},volume={6},number={2},pages={1848-1855},doi={10.1109/LRA.2021.3060437},}
Frontiers
Understanding Musical Predictions with an Embodied Interface for Musical Machine Learning
Martin, Charles P., Glette, Kyrre,
Nygaard, Tønnes F., and Torresen, Jim
@article{martin2020understanding,author={Martin, Charles P. and Glette, Kyrre and Nygaard, T{\o}nnes F. and Torresen, Jim},doi={10.3389/frai.2020.00006},journal={Frontiers in Artificial Intelligence},title={Understanding Musical Predictions with an Embodied Interface for Musical Machine Learning},url={https://www.frontiersin.org/articles/10.3389/frai.2020.00006},volume={3},year={2020},video={https://www.youtube.com/watch?v=tvgqxmHr9wU}}
Conference papers
2023
ALIFE23
Effects of compliant and structural parts in evolved modular robots
Norstein, Emma Stensby, Vennstra, Frank, Ellefsen, Kai Olav,
Nygaard, Tønnes F., and Glette, Kyrre
In Proceedings of the 2023 Artificial Life Conference 2023
@inproceedings{norstein2023effects,title={Effects of compliant and structural parts in evolved modular robots},author={Norstein, Emma Stensby and Vennstra, Frank and Ellefsen, Kai Olav and Nygaard, T{\o}nnes F. and Glette, Kyrre},booktitle={Proceedings of the 2023 Artificial Life Conference},year={2023},organization={MIT Press},doi={https://doi.org/10.1162/isal_a_00689},}
2022
SSCI22
Evolution of linkages for prototyping of linkage based robots
Norstein, Emma Stensby, Ellefsen, Kai Olav, Vennstra, Frank,
Nygaard, Tønnes F., and Glette, Kyrre
In IEEE Symposium Series on Computational Intelligence 2022
@inproceedings{norstein2022evolution,title={Evolution of linkages for prototyping of linkage based robots},author={Norstein, Emma Stensby and Ellefsen, Kai Olav and Vennstra, Frank and Nygaard, T{\o}nnes F. and Glette, Kyrre},booktitle={IEEE Symposium Series on Computational Intelligence},year={2022},organization={IEEE},doi={10.1109/SSCI51031.2022.10022197},}
2021
Evo*21
On restricting real-valued genotypes in evolutionary algorithms
Nordmoen, Jørgen,
Nygaard, Tønnes F., Samuelsen, Eivind, and Glette, Kyrre
In International Conference on the Applications of Evolutionary Computation 2021
@inproceedings{nordmoen2021restricting,title={On restricting real-valued genotypes in evolutionary algorithms},author={Nordmoen, J{\o}rgen and Nygaard, T{\o}nnes F. and Samuelsen, Eivind and Glette, Kyrre},booktitle={International Conference on the Applications of Evolutionary Computation},year={2021},organization={Springer},doi={10.1007/978-3-030-72699-7_1},}
2020
GECCO20
Real World Morphological Evolution is Feasible
Nygaard, Tønnes F., Howard, David, and Glette, Kyrre
In Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion 2020
@inproceedings{nygaard2020real,author={Nygaard, T\o{}nnes F. and Howard, David and Glette, Kyrre},title={Real World Morphological Evolution is Feasible},year={2020},isbn={9781450371278},publisher={ACM},doi={10.1145/3377929.3398095},booktitle={Proceedings of the 2020 Genetic and Evolutionary Computation Conference Companion},pages={1392–1394},}
2019
NAIS19
Experiences from Real-World Evolution with DyRET: Dynamic Robot for Embodied Testing
Nygaard, Tønnes F., Nordmoen, Jørgen, Ellefsen, Kai Olav, Martin, Charles P., Torresen, Jim, and Glette, Kyrre
In Nordic Artificial Intelligence Research and Development 2019
@inproceedings{nygaard2019experiences,author={Nygaard, T{\o}nnes F. and Nordmoen, J{\o}rgen and Ellefsen, Kai Olav and Martin, Charles P. and Torresen, Jim and Glette, Kyrre},title={Experiences from Real-World Evolution with DyRET: Dynamic Robot for Embodied Testing},booktitle={Nordic Artificial Intelligence Research and Development},year={2019},publisher={Springer},pages={58--68},isbn={978-3-030-35664-4},doi={10.1007/978-3-030-35664-4_6}}
@inproceedings{nordmoen2019evolved,title={Evolved embodied phase coordination enables robust quadruped robot locomotion},author={Nordmoen, J{\o}rgen and Nygaard, T{\o}nnes F. and Ellefsen, Kai Olav and Glette, Kyrre},booktitle={Proceedings of the Genetic and Evolutionary Computation Conference},pages={133--141},year={2019},doi={10.1145/3321707.3321762},video={https://www.youtube.com/watch?v=CEv0OgR3t_Q}}
ICRA19
Self-Modifying Morphology Experiments with DyRET: Dynamic Robot for Embodied Testing
Nygaard, Tønnes F., Martin, Charles P., Torresen, Jim, and Glette, Kyrre
In 2019 IEEE International Conference on Robotics and Automation (ICRA) 2019
@inproceedings{nygaard2019self,author={Nygaard, T{\o}nnes F. and Martin, Charles P. and Torresen, Jim and Glette, Kyrre},booktitle={2019 IEEE International Conference on Robotics and Automation (ICRA)},title={{Self-Modifying Morphology Experiments with DyRET: Dynamic Robot for Embodied Testing}},year={2019},doi={10.1109/ICRA.2019.8793663}}
EVO*19
Evolving Robots on Easy Mode: Towards a Variable Complexity Controller for Quadrupeds
Nygaard, Tønnes F., Martin, Charles P., Torresen, Jim, and Glette, Kyrre
In International Conference on the Applications of Evolutionary Computation 2019
@inproceedings{nygaard2019evolving,author={Nygaard, T{\o}nnes F. and Martin, Charles P. and Torresen, Jim and Glette, Kyrre},title={{Evolving Robots on Easy Mode: Towards a Variable Complexity Controller for Quadrupeds}},booktitle={International Conference on the Applications of Evolutionary Computation},year={2019},publisher={Springer},doi={doi.org/10.1007/978-3-030-16692-2_41},}
2018
GECCO18
Real-world Evolution Adapts Robot Morphology and Control to Hardware Limitations
Nygaard, Tønnes F., Martin, Charles P., Samuelsen, Eivind, Torresen, Jim, and Glette, Kyrre
In Proceedings of the Genetic and Evolutionary Computation Conference 2018
@inproceedings{nygaard2018real,author={Nygaard, T{\o}nnes F. and Martin, Charles P. and Samuelsen, Eivind and Torresen, Jim and Glette, Kyrre},title={Real-world Evolution Adapts Robot Morphology and Control to Hardware Limitations},booktitle={Proceedings of the Genetic and Evolutionary Computation Conference},year={2018},isbn={978-1-4503-5618-3},pages={125--132},numpages={8},doi={10.1145/3205455.3205567},publisher={ACM},}
ICRA18*
Exploring Mechanically Self-Reconfiguring Robots for Autonomous Design
@inproceedings{nygaard2018exploring,title={Exploring Mechanically Self-Reconfiguring Robots for Autonomous Design},author={Nygaard, T{\o}nnes F and Martin, Charles P. and Torresen, Jim and Glette, Kyrre},booktitle={2018 ICRA Workshop on Autonomous Robot Design},year={2018},}
2017
Evo*17
Overcoming Initial Convergence in Multi-objective Evolution of Robot Control and Morphology Using a Two-Phase Approach
Nygaard, Tønnes F., Samuelsen, Eivind, and Glette, Kyrre
In International Conference on the Applications of Evolutionary Computation 2017
@inproceedings{nygaard2017overcoming,author={Nygaard, T{\o}nnes F. and Samuelsen, Eivind and Glette, Kyrre},title={{Overcoming Initial Convergence in Multi-objective Evolution of Robot Control and Morphology Using a Two-Phase Approach}},booktitle={International Conference on the Applications of Evolutionary Computation},year={2017},publisher={Springer},pages={825--836},isbn={978-3-319-55849-3},doi={10.1007/978-3-319-55849-3_53}}
2016
SSCI16
Multi-objective Evolution of Fast and Stable Gaits on a Physical Quadruped Robotic Platform
Nygaard, Tønnes F., Torresen, Jim, and Glette, Kyrre
In 2016 IEEE Symposium Series on Computational Intelligence (SSCI) Dec 2016
@inproceedings{nygaard2016multi,author={Nygaard, T{\o}nnes F. and Torresen, Jim and Glette, Kyrre},title={{Multi-objective Evolution of Fast and Stable Gaits on a Physical Quadruped Robotic Platform}},booktitle={2016 IEEE Symposium Series on Computational Intelligence (SSCI)},year={2016},pages={1-8},doi={10.1109/SSCI.2016.7850167},month=dec,}
Master student papers
CSCI20
Generative Truss Optimization for Support-Free Fused Filament Fabrication
Forberg, Henrik Storm,
Nygaard, Tønnes F., and Høvin, Mats E.
In 2020 International Conference on Computational Science and Computational Intelligence (CSCI) 2020
@inproceedings{forberg2020generative,title={{Generative Truss Optimization for Support-Free Fused Filament Fabrication}},author={Forberg, Henrik Storm and Nygaard, T{\o}nnes F. and H{\o}vin, Mats E.},booktitle={2020 International Conference on Computational Science and Computational Intelligence (CSCI)},pages={1491--1497},doi={10.1109/CSCI51800.2020.00276},year={2020},organization={IEEE},}
Ankle Joints Are Beneficial When Optimizing Supported Real-world Bipedal Robot Gaits
Elverhøy, Hilmar, Bøe, Steinar, Søyseth, Vegard, and Nygaard, Tønnes F.
@article{elverhoy2021ankle,title={{Ankle Joints Are Beneficial When Optimizing Supported Real-world Bipedal Robot Gaits}},author={Elverh{\o}y, Hilmar and B{\o}e, Steinar and S{\o}yseth, Vegard and Nygaard, T{\o}nnes F.},year={2022},archiveprefix={arXiv},eprint={2105.10764},primaryclass={cs.RO},}