Interoceptive robustness through environment-mediated morphological development

Typically, AI researchers and roboticists try to realize intelligent behavior in machines by tuning parameters of a predefined structure (body plan and/or neural network architecture) using evolutionary or learning algorithms. Another but not unrelated longstanding property of these systems is their brittleness to slight aberrations, as highlighted by the growing deep learning literature on adversarial examples. Here we show robustness can be achieved by evolving the geometry of soft robots, their control systems, and how their material properties develop in response to one particular interoceptive stimulus (engineering stress) during their lifetimes. By doing so we realized robots that were equally fit but more robust to extreme material defects (such as might occur during fabrication or by damage thereafter) than robots that did not develop during their lifetimes, or developed in response to a different interoceptive stimulus (pressure). This suggests that the interplay between changes in the containing systems of agents (body plan and/or neural architecture) at different temporal scales (evolutionary and developmental) along different modalities (geometry, material properties, synaptic weights) and in response to different signals (interoceptive and external perception) all dictate those agents' abilities to evolve or learn capable and robust strategies

The Limits of Lexicase Selection in an Evolutionary Robotics Task

Agents exhibiting generalized control are capable of solving a theme of related tasks, rather than a specific instance. Here, generalized control pertains to the locomotive capacity of quadrupedal animats, evaluated when climbing over walls of varying height to reach a target. In prior work, we showed that Lexicase selection is more effective than other evolutionary algorithms for this wall crossing task. Generalized controllers capable of crossing the majority of wall heights are discovered, even though Lexicase selection does not sample all possible environments per generation. In this work, we further constrain environmental sampling during evolution, examining the resilience of Lexicase to the impoverished conditions. Through restricting the range of samples at given points in time as well as fixing environmental exposure over fractions of evolutionary time, we attempt to increase the ‘adjacency’ of environmental samples, and report on the response of the Lexicase algorithm to the pressure of this reduced environmental diversity. Results indicate that Lexicase is robust, producing viable agents even in considerably challenging conditions. We also see a positive correlation between the number of tiebreak events that occur and the success of individuals in a population, except in the most limiting conditions. We argue that the increased number of tiebreaks is a response to local maxima, and the increased diversity resulting from random selection at this point, is a key driver of the resilience of the Lexicase algorithm. We also show that in extreme cases, this relationship breaks down. We conclude that tiebreaking is an important control mechanism in Lexicase operation, and that the breakdown in performance observed in extreme conditions indicates an inability of the tiebreak mechanism to function effectively where population diversity is unable to reflect environmental diversity

The Limits of Lexicase Selection in an Evolutionary Robotics Task

Agents exhibiting generalized control are capable of solving a theme of related tasks, rather than a specific instance. Here, generalized control pertains to the locomotive capacity of quadrupedal animats, evaluated when climbing over walls of varying height to reach a target. In prior work, we showed that Lexicase selection is more effective than other evolutionary algorithms for this wall crossing task. Generalized controllers capable of crossing the majority of wall heights are discovered, even though Lexicase selection does not sample all possible environments per generation. In this work, we further constrain environmental sampling during evolution, examining the resilience of Lexicase to the impoverished conditions. Through restricting the range of samples at given points in time as well as fixing environmental exposure over fractions of evolutionary time, we attempt to increase the ‘adjacency’ of environmental samples, and report on the response of the Lexicase algorithm to the pressure of this reduced environmental diversity. Results indicate that Lexicase is robust, producing viable agents even in considerably challenging conditions. We also see a positive correlation between the number of tiebreak events that occur and the success of individuals in a population, except in the most limiting conditions. We argue that the increased number of tiebreaks is a response to local maxima, and the increased diversity resulting from random selection at this point, is a key driver of the resilience of the Lexicase algorithm. We also show that in extreme cases, this relationship breaks down. We conclude that tiebreaking is an important control mechanism in Lexicase operation, and that the breakdown in performance observed in extreme conditions indicates an inability of the tiebreak mechanism to function effectively where population diversity is unable to reflect environmental diversity

Environmental regulation using Plasticoding for the evolution of robots

Evolutionary robot systems are usually affected by the properties of the environment indirectly through selection. In this paper, we present and investigate a system where the environment also has a direct effect: through regulation. We propose a novel robot encoding method where a genotype encodes multiple possible phenotypes, and the incarnation of a robot depends on the environmental conditions taking place in a determined moment of its life. This means that the morphology, controller, and behavior of a robot can change according to the environment. Importantly, this process of development can happen at any moment of a robot lifetime, according to its experienced environmental stimuli. We provide an empirical proof-of-concept, and the analysis of the experimental results shows that Plasticoding improves adaptation (task performance) while leading to different evolved morphologies, controllers, and behaviour.Comment: This paper was submitted to the Frontiers in Robotics and AI journal on the 22/02/2020, and is still under revie