Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

Data-efficient Neuroevolution with Kernel-Based Surrogate Models

Surrogate-assistance approaches have long been used in computationally expensive domains to improve the data-efficiency of optimization algorithms. Neuroevolution, however, has so far resisted the application of these techniques because it requires the surrogate model to make fitness predictions based on variable topologies, instead of a vector of parameters. Our main insight is that we can sidestep this problem by using kernel-based surrogate models, which require only the definition of a distance measure between individuals. Our second insight is that the well-established Neuroevolution of Augmenting Topologies (NEAT) algorithm provides a computationally efficient distance measure between dissimilar networks in the form of "compatibility distance", initially designed to maintain topological diversity. Combining these two ideas, we introduce a surrogate-assisted neuroevolution algorithm that combines NEAT and a surrogate model built using a compatibility distance kernel. We demonstrate the data-efficiency of this new algorithm on the low dimensional cart-pole swing-up problem, as well as the higher dimensional half-cheetah running task. In both tasks the surrogate-assisted variant achieves the same or better results with several times fewer function evaluations as the original NEAT.Comment: In GECCO 201

The Case for a Mixed-Initiative Collaborative Neuroevolution Approach

It is clear that the current attempts at using algorithms to create artificial neural networks have had mixed success at best when it comes to creating large networks and/or complex behavior. This should not be unexpected, as creating an artificial brain is essentially a design problem. Human design ingenuity still surpasses computational design for most tasks in most domains, including architecture, game design, and authoring literary fiction. This leads us to ask which the best way is to combine human and machine design capacities when it comes to designing artificial brains. Both of them have their strengths and weaknesses; for example, humans are much too slow to manually specify thousands of neurons, let alone the billions of neurons that go into a human brain, but on the other hand they can rely on a vast repository of common-sense understanding and design heuristics that can help them perform a much better guided search in design space than an algorithm. Therefore, in this paper we argue for a mixed-initiative approach for collaborative online brain building and present first results towards this goal.Comment: Presented at WebAL-1: Workshop on Artificial Life and the Web 2014 (arXiv:1406.2507

Learning the Designer's Preferences to Drive Evolution

This paper presents the Designer Preference Model, a data-driven solution that pursues to learn from user generated data in a Quality-Diversity Mixed-Initiative Co-Creativity (QD MI-CC) tool, with the aims of modelling the user's design style to better assess the tool's procedurally generated content with respect to that user's preferences. Through this approach, we aim for increasing the user's agency over the generated content in a way that neither stalls the user-tool reciprocal stimuli loop nor fatigues the user with periodical suggestion handpicking. We describe the details of this novel solution, as well as its implementation in the MI-CC tool the Evolutionary Dungeon Designer. We present and discuss our findings out of the initial tests carried out, spotting the open challenges for this combined line of research that integrates MI-CC with Procedural Content Generation through Machine Learning.Comment: 16 pages, Accepted and to appear in proceedings of the 23rd European Conference on the Applications of Evolutionary and bio-inspired Computation, EvoApplications 202

Evolutionary Robotics

info:eu-repo/semantics/publishedVersio