Evolving modular soft robots without explicit inter-module communication using local self-attention

Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem: controllers usually rely on inter-module communication, a practical requirement that makes modules not perfectly interchangeable and thus limits their flexibility. Here, we focus on Voxel-based Soft Robots (VSRs), aggregations of mechanically identical elastic blocks. We use the same neural controller inside each voxel, but without any inter-voxel communication, hence enabling ideal conditions for modularity: modules are all equal and interchangeable. We optimize the parameters of the neural controller—shared among the voxels—by evolutionary computation. Crucially, we use a local self-attention mechanism inside the controller to overcome the absence of inter-module communication channels, thus enabling our robots to truly be driven by the collective intelligence of their modules. We show experimentally that the evolved robots are effective in the task of locomotion: thanks to self-attention, instances of the same controller embodied in the same robot can focus on different inputs. We also find that the evolved controllers generalize to unseen morphologies, after a short fine-tuning, suggesting that an inductive bias related to the task arises from true modularity

Platonic model of mind as an approximation to neurodynamics

Hierarchy of approximations involved in simplification of microscopic theories, from sub-cellural to the whole brain level, is presented. A new approximation to neural dynamics is described, leading to a Platonic-like model of mind based on psychological spaces. Objects and events in these spaces correspond to quasi-stable states of brain dynamics and may be interpreted from psychological point of view. Platonic model bridges the gap between neurosciences and psychological sciences. Static and dynamic versions of this model are outlined and Feature Space Mapping, a neurofuzzy realization of the static version of Platonic model, described. Categorization experiments with human subjects are analyzed from the neurodynamical and Platonic model points of view

Space exploration: The interstellar goal and Titan demonstration

Automated interstellar space exploration is reviewed. The Titan demonstration mission is discussed. Remote sensing and automated modeling are considered. Nuclear electric propulsion, main orbiting spacecraft, lander/rover, subsatellites, atmospheric probes, powered air vehicles, and a surface science network comprise mission component concepts. Machine, intelligence in space exploration is discussed

Maintaining regularity and generalization in data using the minimum description length principle and genetic algorithm: case of grammatical inference

In this paper, a genetic algorithm with minimum description length (GAWMDL) is proposed for grammatical inference. The primary challenge of identifying a language of infinite cardinality from a finite set of examples should know when to generalize and specialize the training data. The minimum description length principle that has been incorporated addresses this issue is discussed in this paper. Previously, the e-GRIDS learning model was proposed, which enjoyed the merits of the minimum description length principle, but it is limited to positive examples only. The proposed GAWMDL, which incorporates a traditional genetic algorithm and has a powerful global exploration capability that can exploit an optimum offspring. This is an effective approach to handle a problem which has a large search space such the grammatical inference problem. The computational capability, the genetic algorithm poses is not questionable, but it still suffers from premature convergence mainly arising due to lack of population diversity. The proposed GAWMDL incorporates a bit mask oriented data structure that performs the reproduction operations, creating the mask, then Boolean based procedure is applied to create an offspring in a generative manner. The Boolean based procedure is capable of introducing diversity into the population, hence alleviating premature convergence. The proposed GAWMDL is applied in the context free as well as regular languages of varying complexities. The computational experiments show that the GAWMDL finds an optimal or close-to-optimal grammar. Two fold performance analysis have been performed. First, the GAWMDL has been evaluated against the elite mating pool genetic algorithm which was proposed to introduce diversity and to address premature convergence. GAWMDL is also tested against the improved tabular representation algorithm. In addition, the authors evaluate the performance of the GAWMDL against a genetic algorithm not using the minimum description length principle. Statistical tests demonstrate the superiority of the proposed algorithm. Overall, the proposed GAWMDL algorithm greatly improves the performance in three main aspects: maintains regularity of the data, alleviates premature convergence and is capable in grammatical inference from both positive and negative corpora

Maintaining regularity and generalization in data using the minimum description length principle and genetic algorithm: Case of grammatical inference

In this paper, a genetic algorithm with minimum description length (GAWMDL) is proposed for grammatical inference. The primary challenge of identifying a language of infinite cardinality from a finite set of examples should know when to generalize and specialize the training data. The minimum description length principle that has been incorporated addresses this issue is discussed in this paper. Previously, the e-GRIDS learning model was proposed, which enjoyed the merits of the minimum description length principle, but it is limited to positive examples only. The proposed GAWMDL, which incorporates a traditional genetic algorithm and has a powerful global exploration capability that can exploit an optimum offspring. This is an effective approach to handle a problem which has a large search space such the grammatical inference problem. The computational capability, the genetic algorithm poses is not questionable, but it still suffers from premature convergence mainly arising due to lack of population diversity. The proposed GAWMDL incorporates a bit mask oriented data structure that performs the reproduction operations, creating the mask, then Boolean based procedure is applied to create an offspring in a generative manner. The Boolean based procedure is capable of introducing diversity into the population, hence alleviating premature convergence. The proposed GAWMDL is applied in the context free as well as regular languages of varying complexities. The computational experiments show that the GAWMDL finds an optimal or close-to-optimal grammar. Two fold performance analysis have been performed. First, the GAWMDL has been evaluated against the elite mating pool genetic algorithm which was proposed to introduce diversity and to address premature convergence. GAWMDL is also tested against the improved tabular representation algorithm. In addition, the authors evaluate the performance of the GAWMDL against a genetic algorithm not using the minimum description length principle. Statistical tests demonstrate the superiority of the proposed algorithm. Overall, the proposed GAWMDL algorithm greatly improves the performance in three main aspects: maintains regularity of the data, alleviates premature convergence and is capable in grammatical inference from both positive and negative corpora

Conceptual Representations for Computational Concept Creation

Computational creativity seeks to understand computational mechanisms that can be characterized as creative. The creation of new concepts is a central challenge for any creative system. In this article, we outline different approaches to computational concept creation and then review conceptual representations relevant to concept creation, and therefore to computational creativity. The conceptual representations are organized in accordance with two important perspectives on the distinctions between them. One distinction is between symbolic, spatial and connectionist representations. The other is between descriptive and procedural representations. Additionally, conceptual representations used in particular creative domains, such as language, music, image and emotion, are reviewed separately. For every representation reviewed, we cover the inference it affords, the computational means of building it, and its application in concept creation.Peer reviewe