A Minimal Developmental Model Can Increase Evolvability in Soft Robots

Different subsystems of organisms adapt over many time scales, such as rapid changes in the nervous system (learning), slower morphological and neurological change over the lifetime of the organism (postnatal development), and change over many generations (evolution). Much work has focused on instantiating learning or evolution in robots, but relatively little on development. Although many theories have been forwarded as to how development can aid evolution, it is difficult to isolate each such proposed mechanism. Thus, here we introduce a minimal yet embodied model of development: the body of the robot changes over its lifetime, yet growth is not influenced by the environment. We show that even this simple developmental model confers evolvability because it allows evolution to sweep over a larger range of body plans than an equivalent non-developmental system, and subsequent heterochronic mutations 'lock in' this body plan in more morphologically-static descendants. Future work will involve gradually complexifying the developmental model to determine when and how such added complexity increases evolvability

Combating catastrophic forgetting with developmental compression

Generally intelligent agents exhibit successful behavior across problems in several settings. Endemic in approaches to realize such intelligence in machines is catastrophic forgetting: sequential learning corrupts knowledge obtained earlier in the sequence, or tasks antagonistically compete for system resources. Methods for obviating catastrophic forgetting have sought to identify and preserve features of the system necessary to solve one problem when learning to solve another, or to enforce modularity such that minimally overlapping sub-functions contain task specific knowledge. While successful, both approaches scale poorly because they require larger architectures as the number of training instances grows, causing different parts of the system to specialize for separate subsets of the data. Here we present a method for addressing catastrophic forgetting called developmental compression. It exploits the mild impacts of developmental mutations to lessen adverse changes to previously-evolved capabilities and `compresses' specialized neural networks into a generalized one. In the absence of domain knowledge, developmental compression produces systems that avoid overt specialization, alleviating the need to engineer a bespoke system for every task permutation and suggesting better scalability than existing approaches. We validate this method on a robot control problem and hope to extend this approach to other machine learning domains in the future

Levels of genetic polymorphism: marker loci versus quantitative traits

Species are the units used to measure ecological diversity and alleles are the units of genetic diversity. Genetic variation within and among species has been documented most extensively using allozyme electrophoresis. This reveals wide differences in genetic variability within, and genetic distances among, species, demonstrating that species are not equivalent units of diversity. The extent to which the pattern observed for allozymes can be used to infer patterns of genetic variation in quantitative traits depends on the forces generating and maintaining variability. Allozyme variation is probably not strictly neutral but, nevertheless, heterozygosity is expected to be influenced by population size and genetic distance will be affected by time since divergence. The same is true for quantitative traits influenced by many genes and under weak stabilizing selection. However, the limited data available suggest that allozyme variability is a poor predictor of genetic variation in quantitative traits within populations. It is a better predictor of general phenotypic divergence and of postzygotic isolation between populations or species, but is only weakly correlated with prezygotic isolation. Studies of grasshopper and planthopper mating signal variation and assortative mating illustrate how these characters evolve independently of general genetic and morphological variation. The role of such traits in prezygotic isolation, and hence speciation, means that they will contribute significantly to the diversity of levels of genetic variation within and among species

Conserved but flexible modularity in the zebrafish skull: implications for craniofacial evolvability

Morphological variation is the outward manifestation of development and provides fodder for adaptive evolution. Because of this contingency, evolution is often thought to be biased by developmental processes and functional interactions among structures, which are statistically detectable through forms of covariance among traits. This can take the form of substructures of integrated traits, termed modules, which together comprise patterns of variational modularity. While modularity is essential to an understanding of evolutionary potential, biologists currently have little understanding of its genetic basis and its temporal dynamics over generations. To address these open questions, we compared patterns of craniofacial modularity among laboratory strains, defined mutant lines and a wild population of zebrafish ( ). Our findings suggest that relatively simple genetic changes can have profound effects on covariance, without greatly affecting craniofacial shape. Moreover, we show that instead of completely deconstructing the covariance structure among sets of traits, mutations cause shifts among seemingly latent patterns of modularity suggesting that the skull may be predisposed towards a limited number of phenotypes. This new insight may serve to greatly increase the evolvability of a population by providing a range of 'preset' patterns of modularity that can appear readily and allow for rapid evolution

Time for change: a new training programme for morpho-molecular pathologists?

The evolution of cellular pathology as a specialty has always been driven by technological developments and the clinical relevance of incorporating novel investigations into diagnostic practice. In recent years, the molecular characterisation of cancer has become of crucial relevance in patient treatment both for predictive testing and subclassification of certain tumours. Much of this has become possible due to the availability of next-generation sequencing technologies and the whole-genome sequencing of tumours is now being rolled out into clinical practice in England via the 100 000 Genome Project. The effective integration of cellular pathology reporting and genomic characterisation is crucial to ensure the morphological and genomic data are interpreted in the relevant context, though despite this, in many UK centres molecular testing is entirely detached from cellular pathology departments. The CM-Path initiative recognises there is a genomics knowledge and skills gap within cellular pathology that needs to be bridged through an upskilling of the current workforce and a redesign of pathology training. Bridging this gap will allow the development of an integrated 'morphomolecular pathology' specialty, which can maintain the relevance of cellular pathology at the centre of cancer patient management and allow the pathology community to continue to be a major influence in cancer discovery as well as playing a driving role in the delivery of precision medicine approaches. Here, several alternative models of pathology training, designed to address this challenge, are presented and appraised