Evolvability signatures of generative encodings: beyond standard performance benchmarks

Evolutionary robotics is a promising approach to autonomously synthesize machines with abilities that resemble those of animals, but the field suffers from a lack of strong foundations. In particular, evolutionary systems are currently assessed solely by the fitness score their evolved artifacts can achieve for a specific task, whereas such fitness-based comparisons provide limited insights about how the same system would evaluate on different tasks, and its adaptive capabilities to respond to changes in fitness (e.g., from damages to the machine, or in new situations). To counter these limitations, we introduce the concept of "evolvability signatures", which picture the post-mutation statistical distribution of both behavior diversity (how different are the robot behaviors after a mutation?) and fitness values (how different is the fitness after a mutation?). We tested the relevance of this concept by evolving controllers for hexapod robot locomotion using five different genotype-to-phenotype mappings (direct encoding, generative encoding of open-loop and closed-loop central pattern generators, generative encoding of neural networks, and single-unit pattern generators (SUPG)). We observed a predictive relationship between the evolvability signature of each encoding and the number of generations required by hexapods to adapt from incurred damages. Our study also reveals that, across the five investigated encodings, the SUPG scheme achieved the best evolvability signature, and was always foremost in recovering an effective gait following robot damages. Overall, our evolvability signatures neatly complement existing task-performance benchmarks, and pave the way for stronger foundations for research in evolutionary robotics.Comment: 24 pages with 12 figures in the main text, and 4 supplementary figures. Accepted at Information Sciences journal (in press). Supplemental videos are available online at, see http://goo.gl/uyY1R

Born to learn: The inspiration, progress, and future of evolved plastic artificial neural networks

Biological plastic neural networks are systems of extraordinary computational capabilities shaped by evolution, development, and lifetime learning. The interplay of these elements leads to the emergence of adaptive behavior and intelligence. Inspired by such intricate natural phenomena, Evolved Plastic Artificial Neural Networks (EPANNs) use simulated evolution in-silico to breed plastic neural networks with a large variety of dynamics, architectures, and plasticity rules: these artificial systems are composed of inputs, outputs, and plastic components that change in response to experiences in an environment. These systems may autonomously discover novel adaptive algorithms, and lead to hypotheses on the emergence of biological adaptation. EPANNs have seen considerable progress over the last two decades. Current scientific and technological advances in artificial neural networks are now setting the conditions for radically new approaches and results. In particular, the limitations of hand-designed networks could be overcome by more flexible and innovative solutions. This paper brings together a variety of inspiring ideas that define the field of EPANNs. The main methods and results are reviewed. Finally, new opportunities and developments are presented

Information Supply and Demand: Resolving Sterelny’s Paradox of Cultural Accumulation

Gene-Culture Coevolution (GCC) theory is an intriguing new entry in the quest to understand human culture. Nonetheless, it has received relatively little philosophical attention. One notable exception is Kim Sterelny’s (2006) critique which raises three primary objections against the GCC account. Most importantly, he argues that GCC theory, as it stands, is unable to resolve “the paradox of cultural accumulation” (151); that while social learning should generally be prohibitively expensive for the pupils, it nonetheless occurs as the principle means of disseminating novel information through a culture. Sterelny holds that this is best explained by supplementing the GCC models with strong cultural group selection pressures. I argue that this is not needed. To show this I elaborate upon Joseph Henrich and Francisco Gil-White’s (2001) information goods theory, developing it in terms of the market pressures that one would expect to find in an information economy. I indicate how such pressures contribute to an individual-level explanation of cultural accumulation that answers Sterelny’s concerns

The Future Evolution of Consciousness

ABSTRACT. What potential exists for improvements in the functioning of consciousness? The paper addresses this issue using global workspace theory. According to this model, the prime function of consciousness is to develop novel adaptive responses. Consciousness does this by putting together new combinations of knowledge, skills and other disparate resources that are recruited from throughout the brain. The paper’s search for potential improvements in the functioning of consciousness draws on studies of the shift during human development from the use of implicit knowledge to the use of explicit (declarative) knowledge. These studies show that the ability of consciousness to adapt a particular domain improves significantly as the transition to the use of declarative knowledge occurs in that domain. However, this potential for consciousness to enhance adaptability has not yet been realised to any extent in relation to consciousness itself. The paper assesses the potential for adaptability to be improved by the conscious adaptation of key processes that constitute consciousness. A number of sources (including the practices of religious and contemplative traditions) are drawn on to investigate how this potential might be realised

Evolvability: What Is It and How Do We Get It?

Biological organisms exhibit spectacular adaptation to their environments. However, another marvel of biology lurks behind the adaptive traits that organisms exhibit over the course of their lifespans: it is hypothesized that biological organisms also exhibit adaptation to the evolutionary process itself. That is, biological organisms are thought to possess traits that facilitate evolution. The term evolvability was coined to describe this type of adaptation. The question of evolvability has special practical relevance to computer science researchers engaged in longstanding efforts to harness evolution as an algorithm for automated design. It is hoped that a more nuanced understanding of biological evolution will translate to more powerful digital evolution techniques. This thesis presents a theoretical overview of evolvability, illustrated with examples from biology and evolutionary computing

Artificial evolution with Binary Decision Diagrams: a study in evolvability in neutral spaces

This thesis develops a new approach to evolving Binary Decision Diagrams, and uses it to study evolvability issues. For reasons that are not yet fully understood, current approaches to artificial evolution fail to exhibit the evolvability so readily exhibited in nature. To be able to apply evolvability to artificial evolution the field must first understand and characterise it; this will then lead to systems which are much more capable than they are currently. An experimental approach is taken. Carefully crafted, controlled experiments elucidate the mechanisms and properties that facilitate evolvability, focusing on the roles and interplay between neutrality, modularity, gradualism, robustness and diversity. Evolvability is found to emerge under gradual evolution as a biased distribution of functionality within the genotype-phenotype map, which serves to direct phenotypic variation. Neutrality facilitates fitness-conserving exploration, completely alleviating local optima. Population diversity, in conjunction with neutrality, is shown to facilitate the evolution of evolvability. The search is robust, scalable, and insensitive to the absence of initial diversity. The thesis concludes that gradual evolution in a search space that is free of local optima by way of neutrality can be a viable alternative to problematic evolution on multi-modal landscapes

Neuroevolution: from architectures to learning

Artificial neural networks (ANNs) are applied to many real-world problems, ranging from pattern classification to robot control. In order to design a neural network for a particular task, the choice of an architecture (including the choice of a neuron model), and the choice of a learning algorithm have to be addressed. Evolutionary search methods can provide an automatic solution to these problems. New insights in both neuroscience and evolutionary biology have led to the development of increasingly powerful neuroevolution techniques over the last decade. This paper gives an overview of the most prominent methods for evolving ANNs with a special focus on recent advances in the synthesis of learning architecture

How Evolvable in Novelty Search?

This research compares the efficacy of novelty versus objective based search for producing evolvable populations in the maze solving task. Populations of maze solving simulated robot controllers were evolved to solve a variety of different, relatively easy, mazes. This evolution took place using either novelty or objective-based search. Once a solution was found, the simulation environment was changed to one of a variety of more complex mazes. Here the population was evolved to find a solution to the new maze, once again with either novelty or objective based search. It was found that, regardless of whether the search in the second maze was directed by novelty or fitness, populations that had been evolved under a fitness paradigm in the first maze were more likely to find a solution to the second. These results suggest that populations of controllers adapted under novelty search are less evolvable compared to objective based search in the maze solving task