Towards Evolving More Brain-Like Artificial Neural Networks

An ambitious long-term goal for neuroevolution, which studies how artificial evolutionary processes can be driven to produce brain-like structures, is to evolve neurocontrollers with a high density of neurons and connections that can adapt and learn from past experience. Yet while neuroevolution has produced successful results in a variety of domains, the scale of natural brains remains far beyond reach. In this dissertation two extensions to the recently introduced Hypercube-based NeuroEvolution of Augmenting Topologies (HyperNEAT) approach are presented that are a step towards more brain-like artificial neural networks (ANNs). First, HyperNEAT is extended to evolve plastic ANNs that can learn from past experience. This new approach, called adaptive HyperNEAT, allows not only patterns of weights across the connectivity of an ANN to be generated by a function of its geometry, but also patterns of arbitrary local learning rules. Second, evolvable-substrate HyperNEAT (ES-HyperNEAT) is introduced, which relieves the user from deciding where the hidden nodes should be placed in a geometry that is potentially infinitely dense. This approach not only can evolve the location of every neuron in the network, but also can represent regions of varying density, which means resolution can increase holistically over evolution. The combined approach, adaptive ES-HyperNEAT, unifies for the first time in neuroevolution the abilities to indirectly encode connectivity through geometry, generate patterns of heterogeneous plasticity, and simultaneously encode the density and placement of nodes in space. The dissertation culminates in a major application domain that takes a step towards the general goal of adaptive neurocontrollers for legged locomotion

Quality Diversity: Harnessing Evolution to Generate a Diversity of High-Performing Solutions

Evolution in nature has designed countless solutions to innumerable interconnected problems, giving birth to the impressive array of complex modern life observed today. Inspired by this success, the practice of evolutionary computation (EC) abstracts evolution artificially as a search operator to find solutions to problems of interest primarily through the adaptive mechanism of survival of the fittest, where stronger candidates are pursued at the expense of weaker ones until a solution of satisfying quality emerges. At the same time, research in open-ended evolution (OEE) draws different lessons from nature, seeking to identify and recreate processes that lead to the type of perpetual innovation and indefinitely increasing complexity observed in natural evolution. New algorithms in EC such as MAP-Elites and Novelty Search with Local Competition harness the toolkit of evolution for a related purpose: finding as many types of good solutions as possible (rather than merely the single best solution). With the field in its infancy, no empirical studies previously existed comparing these so-called quality diversity (QD) algorithms. This dissertation (1) contains the first extensive and methodical effort to compare different approaches to QD (including both existing published approaches as well as some new methods presented for the first time here) and to understand how they operate to help inform better approaches in the future. It also (2) introduces a new technique for encoding neural networks for evolution with indirect encoding that contain multiple sensory or output modalities. Further, it (3) explores the idea that QD can act as an engine of open-ended discovery by introducing an expressive platform called Voxelbuild where QD algorithms continually evolve robots that stack blocks in new ways. A culminating experiment (4) is presented that investigates evolution in Voxelbuild over a very long timescale. This research thus stands to advance the OEE community\u27s desire to create and understand open-ended systems while also laying the groundwork for QD to realize its potential within EC as a means to automatically generate an endless progression of new content in real-world applications

A unified approach to evolving plasticity and neural geometry

Abstract—An ambitious long-term goal for neuroevolution, which studies how artificial evolutionary processes can be driven to produce brain-like structures, is to evolve neurocontrollers with a high density of neurons and connections that can adapt and learn from past experience. Yet while neuroevolution has produced successful results in a variety of domains, the scale of natural brains remains far beyond reach. This paper unifies a set of advanced neuroevolution techniques into a new method called adaptive evolvable-substrate HyperNEAT, which is a step toward more biologically-plausible artificial neural networks (ANNs). The combined approach is able to fully determine the geometry, density, and plasticity of an evolving neuromodulated ANN. These complementary capabilities are demonstrated in a maze-learning task based on similar experiments with animals. The most interesting aspect of this investigation is that the emergent neural structures are beginning to acquire more natural properties, which means that neuroevolution can begin to pose new problems and answer deeper questions about how brains evolved that are ultimately relevant to the field of AI as a whole. I

Neuroevolution of Actively Controlled Virtual Characters

Master's thesis Information- and communication technology IKT590 - University of Agder 2017Physics-based character animation offer an attractive alternative to traditional animation techniques, however, physics-based approaches often struggle to incorporate active user control of these characters. This thesis suggests a different approach to the problem of actively controlled virtual characters. The proposed solution takes a neuroevolutionary approach, using HyperNEAT to evolve neural controllers for a simulated eight-legged character, a previously untested character morphology for this algorithm. Using these controllers this thesis aims to evaluate the robustness and responsiveness of a control strategy that changes between them based on simulated user input. The results show that HyperNEAT is quite capable of evolving long walking controllers for this character, but also suggests a need for further refinement when operated in tandem

A Neurogenetic Algorithm Based on Rational Agents

Lately, a lot of research has been conducted on the automatic design of artificial neural networks (ADANNs) using evolutionary algorithms, in the so-called neuro-evolutive algorithms (NEAs). Many of the presented proposals are not biologically inspired and are not able to generate modular, hierarchical and recurrent neural structures, such as those often found in living beings capable of solving intricate survival problems. Bearing in mind the idea that a nervous system's design and organization is a constructive process carried out by genetic information encoded in DNA, this paper proposes a biologically inspired NEA that evolves ANNs using these ideas as computational design techniques. In order to do this, we propose a Lindenmayer System with memory that implements the principles of organization, modularity, repetition (multiple use of the same sub-structure), hierarchy (recursive composition of sub-structures), minimizing the scalability problem of other methods. In our method, the basic neural codification is integrated to a genetic algorithm (GA) that implements the constructive approach found in the evolutionary process, making it closest to biological processes. Thus, the proposed method is a decision-making (DM) process, the fitness function of the NEA rewards economical artificial neural networks (ANNs) that are easily implemented. In other words, the penalty approach implemented through the fitness function automatically rewards the economical ANNs with stronger generalization and extrapolation capacities. Our method was initially tested on a simple, but non-trivial, XOR problem. We also submit our method to two other problems of increasing complexity: time series prediction that represents consumer price index and prediction of the effect of a new drug on breast cancer. In most cases, our NEA outperformed the other methods, delivering the most accurate classification. These superior results are attributed to the improved effectiveness and efficiency of NEA in the decision-making process. The result is an optimized neural network architecture for solving classification problems