Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework

In this paper, we argue that the future of Artificial Intelligence research resides in two keywords: integration and embodiment. We support this claim by analyzing the recent advances of the field. Regarding integration, we note that the most impactful recent contributions have been made possible through the integration of recent Machine Learning methods (based in particular on Deep Learning and Recurrent Neural Networks) with more traditional ones (e.g. Monte-Carlo tree search, goal babbling exploration or addressable memory systems). Regarding embodiment, we note that the traditional benchmark tasks (e.g. visual classification or board games) are becoming obsolete as state-of-the-art learning algorithms approach or even surpass human performance in most of them, having recently encouraged the development of first-person 3D game platforms embedding realistic physics. Building upon this analysis, we first propose an embodied cognitive architecture integrating heterogenous sub-fields of Artificial Intelligence into a unified framework. We demonstrate the utility of our approach by showing how major contributions of the field can be expressed within the proposed framework. We then claim that benchmarking environments need to reproduce ecologically-valid conditions for bootstrapping the acquisition of increasingly complex cognitive skills through the concept of a cognitive arms race between embodied agents.Comment: Updated version of the paper accepted to the ICDL-Epirob 2017 conference (Lisbon, Portugal

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

Evolutionary Algorithms for Reinforcement Learning

There are two distinct approaches to solving reinforcement learning problems, namely, searching in value function space and searching in policy space. Temporal difference methods and evolutionary algorithms are well-known examples of these approaches. Kaelbling, Littman and Moore recently provided an informative survey of temporal difference methods. This article focuses on the application of evolutionary algorithms to the reinforcement learning problem, emphasizing alternative policy representations, credit assignment methods, and problem-specific genetic operators. Strengths and weaknesses of the evolutionary approach to reinforcement learning are presented, along with a survey of representative applications

Transformations in the Scale of Behaviour and the Global Optimisation of Constraints in Adaptive Networks

The natural energy minimisation behaviour of a dynamical system can be interpreted as a simple optimisation process, finding a locally optimal resolution of problem constraints. In human problem solving, high-dimensional problems are often made much easier by inferring a low-dimensional model of the system in which search is more effective. But this is an approach that seems to require top-down domain knowledge; not one amenable to the spontaneous energy minimisation behaviour of a natural dynamical system. However, in this paper we investigate the ability of distributed dynamical systems to improve their constraint resolution ability over time by self-organisation. We use a ‘self-modelling’ Hopfield network with a novel type of associative connection to illustrate how slowly changing relationships between system components can result in a transformation into a new system which is a low-dimensional caricature of the original system. The energy minimisation behaviour of this new system is significantly more effective at globally resolving the original system constraints. This model uses only very simple, and fully-distributed positive feedback mechanisms that are relevant to other ‘active linking’ and adaptive networks. We discuss how this neural network model helps us to understand transformations and emergent collective behaviour in various non-neural adaptive networks such as social, genetic and ecological networks

A multi-agent based evolutionary algorithm in non-stationary environments

This article is posted here with permission of IEEE - Copyright @ 2008 IEEEIn this paper, a multi-agent based evolutionary algorithm (MAEA) is introduced to solve dynamic optimization problems. The agents simulate living organism features and co-evolve to find optimum. All agents live in a lattice like environment, where each agent is fixed on a lattice point. In order to increase the energy, agents can compete with their neighbors and can also acquire knowledge based on statistic information. In order to maintain the diversity of the population, the random immigrants and adaptive primal dual mapping schemes are used. Simulation experiments on a set of dynamic benchmark problems show that MAEA can obtain a better performance in non-stationary environments in comparison with several peer genetic algorithms.This work was suported by the Key Program of National Natural Science Foundation of China under Grant No. 70431003, the Science Fund for Creative Research Group of the National Natural Science Foundation of China under Grant No. 60521003, the National Science and Technology Support Plan of China under Grant No. 2006BAH02A09, and the Engineering and Physical Sciences Research Council of the United Kingdom under Grant No. EP/E060722/1