Learning Behavior Trees with Genetic Programming in Unpredictable Environments

Modern industrial applications require robots to operate in unpredictable environments, and programs to be created with a minimal effort, to accommodate frequent changes to the task. Here, we show that genetic programming can be effectively used to learn the structure of a behavior tree (BT) to solve a robotic task in an unpredictable environment. We propose to use a simple simulator for learning, and demonstrate that the learned BTs can solve the same task in a realistic simulator, converging without the need for task specific heuristics, making our method appealing for real robotic applications.