Cultural Learning in a Dynamic Environment: an Analysis of Both Fitness and Diversity in Populations of Neural Network Agents

Evolutionary learning is a learning model that can be described as the iterative Darwinian process of fitness-based selection and genetic transfer of information leading to populations of higher fitness. Cultural learning describes the process of information transfer between individuals in a population through non-genetic means. Cultural learning has been simulated by combining genetic algorithms and neural networks using a teacher/pupil scenario where highly fit individuals are selected as teachers and instruct the next generation. This paper examines the effects of cultural learning on the evolutionary process of a population of neural networks. In particular, the paper examines the genotypic and phenotypic diversity of a population as well as its fitness. Using these measurements, it is possible to examine the effects of cultural learning on the population's genetic makeup. Furthermore, the paper examines whether cultural learning provides a more robust learning mechanism in the face of environmental changes. Three benchmark tasks have been chosen as the evolutionary task for the population: the bit-parity problem, the game of tic-tac-toe and the game of connect-four. Experiments are conducted with populations employing evolutionary learning alone and populations combining evolutionary and cultural learning in an environment that changes dramatically.Cultural Learning, Dynamic Environments, Diversity, Multi-Agent Systems, Artificial Life

Open-Ended Evolutionary Robotics: an Information Theoretic Approach

This paper is concerned with designing self-driven fitness functions for Embedded Evolutionary Robotics. The proposed approach considers the entropy of the sensori-motor stream generated by the robot controller. This entropy is computed using unsupervised learning; its maximization, achieved by an on-board evolutionary algorithm, implements a "curiosity instinct", favouring controllers visiting many diverse sensori-motor states (sms). Further, the set of sms discovered by an individual can be transmitted to its offspring, making a cultural evolution mode possible. Cumulative entropy (computed from ancestors and current individual visits to the sms) defines another self-driven fitness; its optimization implements a "discovery instinct", as it favours controllers visiting new or rare sensori-motor states. Empirical results on the benchmark problems proposed by Lehman and Stanley (2008) comparatively demonstrate the merits of the approach

Evolution of Swarm Robotics Systems with Novelty Search

Novelty search is a recent artificial evolution technique that challenges traditional evolutionary approaches. In novelty search, solutions are rewarded based on their novelty, rather than their quality with respect to a predefined objective. The lack of a predefined objective precludes premature convergence caused by a deceptive fitness function. In this paper, we apply novelty search combined with NEAT to the evolution of neural controllers for homogeneous swarms of robots. Our empirical study is conducted in simulation, and we use a common swarm robotics task - aggregation, and a more challenging task - sharing of an energy recharging station. Our results show that novelty search is unaffected by deception, is notably effective in bootstrapping the evolution, can find solutions with lower complexity than fitness-based evolution, and can find a broad diversity of solutions for the same task. Even in non-deceptive setups, novelty search achieves solution qualities similar to those obtained in traditional fitness-based evolution. Our study also encompasses variants of novelty search that work in concert with fitness-based evolution to combine the exploratory character of novelty search with the exploitatory character of objective-based evolution. We show that these variants can further improve the performance of novelty search. Overall, our study shows that novelty search is a promising alternative for the evolution of controllers for robotic swarms.Comment: To appear in Swarm Intelligence (2013), ANTS Special Issue. The final publication will be available at link.springer.co

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

A tractable genotype-phenotype map for the self-assembly of protein quaternary structure

The mapping between biological genotypes and phenotypes is central to the study of biological evolution. Here we introduce a rich, intuitive, and biologically realistic genotype-phenotype (GP) map, that serves as a model of self-assembling biological structures, such as protein complexes, and remains computationally and analytically tractable. Our GP map arises naturally from the self-assembly of polyomino structures on a 2D lattice and exhibits a number of properties: $\textit{redundancy}$ (genotypes vastly outnumber phenotypes), $\textit{phenotype bias}$ (genotypic redundancy varies greatly between phenotypes), $\textit{genotype component disconnectivity}$ (phenotypes consist of disconnected mutational networks) and $\textit{shape space covering}$ (most phenotypes can be reached in a small number of mutations). We also show that the mutational robustness of phenotypes scales very roughly logarithmically with phenotype redundancy and is positively correlated with phenotypic evolvability. Although our GP map describes the assembly of disconnected objects, it shares many properties with other popular GP maps for connected units, such as models for RNA secondary structure or the HP lattice model for protein tertiary structure. The remarkable fact that these important properties similarly emerge from such different models suggests the possibility that universal features underlie a much wider class of biologically realistic GP maps.Comment: 12 pages, 6 figure

The Emergence of Canalization and Evolvability in an Open-Ended, Interactive Evolutionary System

Natural evolution has produced a tremendous diversity of functional organisms. Many believe an essential component of this process was the evolution of evolvability, whereby evolution speeds up its ability to innovate by generating a more adaptive pool of offspring. One hypothesized mechanism for evolvability is developmental canalization, wherein certain dimensions of variation become more likely to be traversed and others are prevented from being explored (e.g. offspring tend to have similarly sized legs, and mutations affect the length of both legs, not each leg individually). While ubiquitous in nature, canalization almost never evolves in computational simulations of evolution. Not only does that deprive us of in silico models in which to study the evolution of evolvability, but it also raises the question of which conditions give rise to this form of evolvability. Answering this question would shed light on why such evolvability emerged naturally and could accelerate engineering efforts to harness evolution to solve important engineering challenges. In this paper we reveal a unique system in which canalization did emerge in computational evolution. We document that genomes entrench certain dimensions of variation that were frequently explored during their evolutionary history. The genetic representation of these organisms also evolved to be highly modular and hierarchical, and we show that these organizational properties correlate with increased fitness. Interestingly, the type of computational evolutionary experiment that produced this evolvability was very different from traditional digital evolution in that there was no objective, suggesting that open-ended, divergent evolutionary processes may be necessary for the evolution of evolvability.Comment: SI can be found at: http://www.evolvingai.org/files/SI_0.zi

Statistical Physics of Evolutionary Trajectories on Fitness Landscapes

Random walks on multidimensional nonlinear landscapes are of interest in many areas of science and engineering. In particular, properties of adaptive trajectories on fitness landscapes determine population fates and thus play a central role in evolutionary theory. The topography of fitness landscapes and its effect on evolutionary dynamics have been extensively studied in the literature. We will survey the current research knowledge in this field, focusing on a recently developed systematic approach to characterizing path lengths, mean first-passage times, and other statistics of the path ensemble. This approach, based on general techniques from statistical physics, is applicable to landscapes of arbitrary complexity and structure. It is especially well-suited to quantifying the diversity of stochastic trajectories and repeatability of evolutionary events. We demonstrate this methodology using a biophysical model of protein evolution that describes how proteins maintain stability while evolving new functions

Fitness sharing and niching methods revisited

Interest in multimodal optimization function is expanding rapidly since real-world optimization problems often require the location of multiple optima in the search space. In this context, fitness sharing has been used widely to maintain population diversity and permit the investigation of many peaks in the feasible domain. This paper reviews various strategies of sharing and proposes new recombination schemes to improve its efficiency. Some empirical results are presented for high and a limited number of fitness function evaluations. Finally, the study compares the sharing method with other niching techniques