Discovering the Elite Hypervolume by Leveraging Interspecies Correlation

Evolution has produced an astonishing diversity of species, each filling a different niche. Algorithms like MAP-Elites mimic this divergent evolutionary process to find a set of behaviorally diverse but high-performing solutions, called the elites. Our key insight is that species in nature often share a surprisingly large part of their genome, in spite of occupying very different niches; similarly, the elites are likely to be concentrated in a specific "elite hypervolume" whose shape is defined by their common features. In this paper, we first introduce the elite hypervolume concept and propose two metrics to characterize it: the genotypic spread and the genotypic similarity. We then introduce a new variation operator, called "directional variation", that exploits interspecies (or inter-elites) correlations to accelerate the MAP-Elites algorithm. We demonstrate the effectiveness of this operator in three problems (a toy function, a redundant robotic arm, and a hexapod robot).Comment: In GECCO 201

Illuminating Mario Scenes in the Latent Space of a Generative Adversarial Network

Generative adversarial networks (GANs) are quickly becoming a ubiquitous approach to procedurally generating video game levels. While GAN generated levels are stylistically similar to human-authored examples, human designers often want to explore the generative design space of GANs to extract interesting levels. However, human designers find latent vectors opaque and would rather explore along dimensions the designer specifies, such as number of enemies or obstacles. We propose using state-of-the-art quality diversity algorithms designed to optimize continuous spaces, i.e. MAP-Elites with a directional variation operator and Covariance Matrix Adaptation MAP-Elites, to efficiently explore the latent space of a GAN to extract levels that vary across a set of specified gameplay measures. In the benchmark domain of Super Mario Bros, we demonstrate how designers may specify gameplay measures to our system and extract high-quality (playable) levels with a diverse range of level mechanics, while still maintaining stylistic similarity to human authored examples. An online user study shows how the different mechanics of the automatically generated levels affect subjective ratings of their perceived difficulty and appearance.Comment: Accepted to AAAI 202

Discovering Representations for Black-box Optimization

The encoding of solutions in black-box optimization is a delicate, handcrafted balance between expressiveness and domain knowledge -- between exploring a wide variety of solutions, and ensuring that those solutions are useful. Our main insight is that this process can be automated by generating a dataset of high-performing solutions with a quality diversity algorithm (here, MAP-Elites), then learning a representation with a generative model (here, a Variational Autoencoder) from that dataset. Our second insight is that this representation can be used to scale quality diversity optimization to higher dimensions -- but only if we carefully mix solutions generated with the learned representation and those generated with traditional variation operators. We demonstrate these capabilities by learning an low-dimensional encoding for the inverse kinematics of a thousand joint planar arm. The results show that learned representations make it possible to solve high-dimensional problems with orders of magnitude fewer evaluations than the standard MAP-Elites, and that, once solved, the produced encoding can be used for rapid optimization of novel, but similar, tasks. The presented techniques not only scale up quality diversity algorithms to high dimensions, but show that black-box optimization encodings can be automatically learned, rather than hand designed.Comment: Presented at GECCO 2020 -- v2 (Previous title 'Automating Representation Discovery with MAP-Elites'

Quality Diversity for Multi-task Optimization

International audienceQuality Diversity (QD) algorithms are a recent family of optimization algorithms that search for a large set of diverse but high-performing solutions. In some specific situations, they can solve multiple tasks at once. For instance, they can find the joint positions required for a robotic arm to reach a set of points, which can also be solved by running a classic optimizer for each target point. However, they cannot solve multiple tasks when the fitness needs to be evaluated independently for each task (e.g., optimizing policies to grasp many different objects). In this paper, we propose an extension of the MAP-Elites algorithm, called Multi-task MAP-Elites, that solves multiple tasks when the fitness function depends on the task. We evaluate it on a simulated parameterized planar arm (10-dimensional search space; 5000 tasks) and on a simulated 6-legged robot with legs of different lengths (36-dimensional search space; 2000 tasks). The results show that in both cases our algorithm outperforms the optimization of each task separately with the CMA-ES algorithm

Proximal Policy Gradient Arborescence for Quality Diversity Reinforcement Learning

Training generally capable agents that perform well in unseen dynamic environments is a long-term goal of robot learning. Quality Diversity Reinforcement Learning (QD-RL) is an emerging class of reinforcement learning (RL) algorithms that blend insights from Quality Diversity (QD) and RL to produce a collection of high performing and behaviorally diverse policies with respect to a behavioral embedding. Existing QD-RL approaches have thus far taken advantage of sample-efficient off-policy RL algorithms. However, recent advances in high-throughput, massively parallelized robotic simulators have opened the door for algorithms that can take advantage of such parallelism, and it is unclear how to scale existing off-policy QD-RL methods to these new data-rich regimes. In this work, we take the first steps to combine on-policy RL methods, specifically Proximal Policy Optimization (PPO), that can leverage massive parallelism, with QD, and propose a new QD-RL method with these high-throughput simulators and on-policy training in mind. Our proposed Proximal Policy Gradient Arborescence (PPGA) algorithm yields a 4x improvement over baselines on the challenging humanoid domain.Comment: Submitted to Neurips 202

Wetlands for water justice: a political ecology of water quality and more-than-human habitability in three constructed wetland projects

This thesis investigates three more-than-human waterscapes in rural India and Scotland where constructed wetlands have been built for wastewater treatment. My analysis of these constructed wetland projects draws from political ecology, more-than-human geography and critical water scholarship. I demonstrate how close attention to more-than-human relations can both strengthen and stretch the existing normative concerns of critical water scholarship. I first explore how varied notions of justice can be found in the socio-technical imaginaries of constructed wetlands. The next section traces how water quality is judged and how water quality changes are interpreted in the focal waterscapes. Both technical and everyday ways of judging adequate water quality rely on the combination of more-than-human relations and broader knowledge formations. Interpretations of water quality changes draw upon different models of hydraulic, ecological and social processes. I argue that, in judging adequate water quality and interpreting water quality changes, an oversimplified understanding of more-than-human actions stabilises expert knowledge and sustains relations of domination in waterscapes. The final section contributes to an emerging literature examining the overlapping of infrastructures and multispecies habitats. Through bridging geographical and ecological theorisations of biodiversity, I uncover the relations, scalar connections and representations that allow varied life to flourish in constructed wetlands. I also demonstrate how spatial exclusions serve to redistribute the vulnerabilities of waterscape co-existence. My research methodology makes an empirical contribution to discussions about the role of natural science methods in critical environmental scholarship. Through analyses of the knowledge politics and material transformations of these constructed wetland projects, this thesis advances the concepts and practices that might support more-than-human flourishing in waterscapes

Neolithic land-use in the Dutch wetlands: estimating the land-use implications of resource exploitation strategies in the Middle Swifterbant Culture (4600-3900 BCE)

The Dutch wetlands witness the gradual adoption of Neolithic novelties by foraging societies during the Swifterbant period. Recent analyses provide new insights into the subsistence palette of Middle Swifterbant societies. Small-scale livestock herding and cultivation are in evidence at this time, but their importance if unclear. Within the framework of PAGES Land-use at 6000BP project, we aim to translate the information on resource exploitation into information on land-use that can be incorporated into global climate modelling efforts, with attention for the importance of agriculture. A reconstruction of patterns of resource exploitation and their land-use dimensions is complicated by methodological issues in comparing the results of varied recent investigations. Analyses of organic residues in ceramics have attested to the cooking of aquatic foods, ruminant meat, porcine meat, as well as rare cases of dairy. In terms of vegetative matter, some ceramics exclusively yielded evidence of wild plants, while others preserve cereal remains. Elevated δ15N values of human were interpreted as demonstrating an important aquatic component of the diet well into the 4th millennium BC. Yet recent assays on livestock remains suggest grazing on salt marshes partly accounts for the human values. Finally, renewed archaeozoological investigations have shown the early presence of domestic animals to be more limited than previously thought. We discuss the relative importance of exploited resources to produce a best-fit interpretation of changing patterns of land-use during the Middle Swifterbant phase. Our review combines recent archaeological data with wider data on anthropogenic influence on the landscape. Combining the results of plant macroremains, information from pollen cores about vegetation development, the structure of faunal assemblages, and finds of arable fields and dairy residue, we suggest the most parsimonious interpretation is one of a limited land-use footprint of cultivation and livestock keeping in Dutch wetlands between 4600 and 3900 BCE.NWOVidi 276-60-004Human Origin

Ways and Capacity in Archaeological Data Management in Serbia

Over the past year and due to the COVID-19 pandemic, the entire world has witnessed inequalities across borders and societies. They also include access to archaeological resources, both physical and digital. Both archaeological data creators and users spent a lot of time working from their homes, away from artefact collections and research data. However, this was the perfect moment to understand the importance of making data freely and openly available, both nationally and internationally. This is why the authors of this paper chose to make a selection of data bases from various institutions responsible for preservation and protection of cultural heritage, in order to understand their policies regarding accessibility and usage of the data they keep. This will be done by simple visits to various web-sites or data bases. They intend to check on the volume and content, but also importance of the offered archaeological heritage. In addition, the authors will estimate whether the heritage has adequately been classified and described and also check whether data is available in foreign languages. It needs to be seen whether it is possible to access digital objects (documents and the accompanying metadata), whether access is opened for all users or it requires a certain hierarchy access, what is the policy of usage, reusage and distribution etc. It remains to be seen whether there are public API or whether it is possible to collect data through API. In case that there is a public API, one needs to check whether datasets are interoperable or messy, requiring data cleaning. After having visited a certain number of web-sites, the authors expect to collect enough data to make a satisfactory conclusion about accessibility and usage of Serbian archaeological data web bases

Taphonomy, environment or human plant exploitation strategies?: Deciphering changes in Pleistocene-Holocene plant representation at Umhlatuzana rockshelter, South Africa

The period between ~40 and 20 ka BP encompassing the Middle Stone Age (MSA) and Later Stone Age (LSA) transition has long been of interest because of the associated technological change. Understanding this transition in southern Africa is complicated by the paucity of archaeological sites that span this period. With its occupation sequence spanning the last ~70,000 years, Umhlatuzana Rock Shelter is one of the few sites that record this transition. Umhlatuzana thus offers a great opportunity to study past environmental dynamics from the Late Pleistocene (MIS 4) to the Late Holocene, and past human subsistence strategies, their social organisation, technological and symbolic innovations. Although organic preservation is poor (bones, seeds, and charcoal) at the site, silica phytoliths preserve generally well throughout the sequence. These microscopic silica particles can identify different plant types that are no longer visible at the site because of decomposition or burning to a reliable taxonomical level. Thus, to trace site occupation, plant resource use, and in turn reconstruct past vegetation, we applied phytolith analyses to sediment samples of the newly excavated Umhlatuzana sequence. We present results of the phytolith assemblage variability to determine change in plant use from the Pleistocene to the Holocene and discuss them in relation to taphonomical processes and human plant gathering strategies and activities. This study ultimately seeks to provide a palaeoenvironmental context for modes of occupation and will shed light on past human-environmental interactions in eastern South Africa.NWOVidi 276-60-004Human Origin