Learning Behavior Trees by Evolution-Inspired Approaches

摘要

As a reactive and modular policy control architecture, Behavior Tree (BT) has been used in computer games and robotics for autonomous agents' task switching. However, constructing BTs manually for complex tasks requires expert domain-knowledge and is error-prone. As a solution, researchers have proposed to auto-construct BTs using evolutionary algorithms such as Genetic Programming (GP) and Grammatical Evolution (GE). Nevertheless, their effectiveness in practical situations is in doubt and there are different drawbacks in the application.