906 research outputs found
Open-ended Search through Minimal Criterion Coevolution
Search processes guided by objectives are ubiquitous in machine learning. They iteratively reward artifacts based on their proximity to an optimization target, and terminate upon solution space convergence. Some recent studies take a different approach, capitalizing on the disconnect between mainstream methods in artificial intelligence and the field\u27s biological inspirations. Natural evolution has an unparalleled propensity for generating well-adapted artifacts, but these artifacts are decidedly non-convergent. This new class of non-objective algorithms induce a divergent search by rewarding solutions according to their novelty with respect to prior discoveries. While the diversity of resulting innovations exhibit marked parallels to natural evolution, the methods by which search is driven remain unnatural. In particular, nature has no need to characterize and enforce novelty; rather, it is guided by a single, simple constraint: survive long enough to reproduce. The key insight is that such a constraint, called the minimal criterion, can be harnessed in a coevolutionary context where two populations interact, finding novel ways to satisfy their reproductive constraint with respect to each other. Among the contributions of this dissertation, this approach, called minimal criterion coevolution (MCC), is the primary (1). MCC is initially demonstrated in a maze domain (2) where it evolves increasingly complex mazes and solutions. An enhancement to the initial domain (3) is then introduced, allowing mazes to expand unboundedly and validating MCC\u27s propensity for open-ended discovery. A more natural method of diversity preservation through resource limitation (4) is introduced and shown to maintain population diversity without comparing genetic distance. Finally, MCC is demonstrated in an evolutionary robotics domain (5) where it coevolves increasingly complex bodies with brain controllers to achieve principled locomotion. The overall benefit of these contributions is a novel, general, algorithmic framework for the continual production of open-ended dynamics without the need for a characterization of behavioral novelty
Born to learn: The inspiration, progress, and future of evolved plastic artificial neural networks
Biological plastic neural networks are systems of extraordinary computational
capabilities shaped by evolution, development, and lifetime learning. The
interplay of these elements leads to the emergence of adaptive behavior and
intelligence. Inspired by such intricate natural phenomena, Evolved Plastic
Artificial Neural Networks (EPANNs) use simulated evolution in-silico to breed
plastic neural networks with a large variety of dynamics, architectures, and
plasticity rules: these artificial systems are composed of inputs, outputs, and
plastic components that change in response to experiences in an environment.
These systems may autonomously discover novel adaptive algorithms, and lead to
hypotheses on the emergence of biological adaptation. EPANNs have seen
considerable progress over the last two decades. Current scientific and
technological advances in artificial neural networks are now setting the
conditions for radically new approaches and results. In particular, the
limitations of hand-designed networks could be overcome by more flexible and
innovative solutions. This paper brings together a variety of inspiring ideas
that define the field of EPANNs. The main methods and results are reviewed.
Finally, new opportunities and developments are presented
Discovering Evolutionary Stepping Stones through Behavior Domination
Behavior domination is proposed as a tool for understanding and harnessing
the power of evolutionary systems to discover and exploit useful stepping
stones. Novelty search has shown promise in overcoming deception by collecting
diverse stepping stones, and several algorithms have been proposed that combine
novelty with a more traditional fitness measure to refocus search and help
novelty search scale to more complex domains. However, combinations of novelty
and fitness do not necessarily preserve the stepping stone discovery that
novelty search affords. In several existing methods, competition between
solutions can lead to an unintended loss of diversity. Behavior domination
defines a class of algorithms that avoid this problem, while inheriting
theoretical guarantees from multiobjective optimization. Several existing
algorithms are shown to be in this class, and a new algorithm is introduced
based on fast non-dominated sorting. Experimental results show that this
algorithm outperforms existing approaches in domains that contain useful
stepping stones, and its advantage is sustained with scale. The conclusion is
that behavior domination can help illuminate the complex dynamics of
behavior-driven search, and can thus lead to the design of more scalable and
robust algorithms.Comment: To Appear in Proceedings of the Genetic and Evolutionary Computation
Conference (GECCO 2017
The Evolution of Active Droplets in Chemorobotic Platforms
There is great interest in oil-in-water droplets as simple systems that display astonishingly complex behaviours. Recently, we reported a chemorobotic platform capable of autonomously exploring and evolving the behaviours these droplets can exhibit. The platform enabled us to undertake a large number of reproducible experiments, allowing us to probe the non-linear relationship between droplet composition and behaviour. Herein we introduce this work, and also report on the recent developments we have made to this system. These include new platforms to simultaneously evolve the droplets’ physical and chemical environments and the inclusion of selfreplicating molecules in the droplets
Comparing and Combining Lexicase Selection and Novelty Search
Lexicase selection and novelty search, two parent selection methods used in
evolutionary computation, emphasize exploring widely in the search space more
than traditional methods such as tournament selection. However, lexicase
selection is not explicitly driven to select for novelty in the population, and
novelty search suffers from lack of direction toward a goal, especially in
unconstrained, highly-dimensional spaces. We combine the strengths of lexicase
selection and novelty search by creating a novelty score for each test case,
and adding those novelty scores to the normal error values used in lexicase
selection. We use this new novelty-lexicase selection to solve automatic
program synthesis problems, and find it significantly outperforms both novelty
search and lexicase selection. Additionally, we find that novelty search has
very little success in the problem domain of program synthesis. We explore the
effects of each of these methods on population diversity and long-term problem
solving performance, and give evidence to support the hypothesis that
novelty-lexicase selection resists converging to local optima better than
lexicase selection
Open-Ended Evolutionary Robotics: an Information Theoretic Approach
This paper is concerned with designing self-driven fitness functions for
Embedded Evolutionary Robotics. The proposed approach considers the entropy of
the sensori-motor stream generated by the robot controller. This entropy is
computed using unsupervised learning; its maximization, achieved by an on-board
evolutionary algorithm, implements a "curiosity instinct", favouring
controllers visiting many diverse sensori-motor states (sms). Further, the set
of sms discovered by an individual can be transmitted to its offspring, making
a cultural evolution mode possible. Cumulative entropy (computed from ancestors
and current individual visits to the sms) defines another self-driven fitness;
its optimization implements a "discovery instinct", as it favours controllers
visiting new or rare sensori-motor states. Empirical results on the benchmark
problems proposed by Lehman and Stanley (2008) comparatively demonstrate the
merits of the approach
- …