Exploring the Modularity and Structure of Robots Evolved in Multiple Environments

Traditional techniques for the design of robots require human engineers to plan every aspect of the system, from body to controller. In contrast, the field of evolu- tionary robotics uses evolutionary algorithms to create optimized morphologies and neural controllers with minimal human intervention. In order to expand the capability of an evolved agent, it must be exposed to a variety of conditions and environments. This thesis investigates the design and benefits of virtual robots which can reflect the structure and modularity in the world around them. I show that when a robot’s morphology and controller enable it to perceive each environment as a collection of independent components, rather than a monolithic entity, evolution only needs to optimize on a subset of environments in order to maintain performance in the overall larger environmental space. I explore previously unused methods in evolutionary robotics to aid in the evolution of modularity, including using morphological and neurological cost. I utilize a tree morphology which makes my results generalizable to other mor- phologies while also allowing in depth theoretical analysis about the properties rel- evant to modularity in embodied agents. In order to better frame the question of modularity in an embodied context, I provide novel definitions of morphological and neurological modularity as well as create the sub-goal interference metric which mea- sures how much independence a robot exhibits with regards to environmental stimu- lus. My work extends beyond evolutionary robotics and can be applied to the opti- mization of embodied systems in general as well as provides insight into the evolution of form in biological organisms

Exploring the effects of robotic design on learning and neural control

The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished themselves in specialized tasks. However, we have yet to see robots capable of performing multiple tasks at an expert level. Most work in this field is focused on the development of more sophisticated learning algorithms for a robot's controller given a largely static and presupposed robotic design. By focusing on the development of robotic bodies, rather than neural controllers, I have discovered that robots can be designed such that they overcome many of the current pitfalls encountered by neural controllers in multitask settings. Through this discovery, I also present novel metrics to explicitly measure the learning ability of a robotic design and its resistance to common problems such as catastrophic interference. Traditionally, the physical robot design requires human engineers to plan every aspect of the system, which is expensive and often relies on human intuition. In contrast, within the field of evolutionary robotics, evolutionary algorithms are used to automatically create optimized designs, however, such designs are often still limited in their ability to perform in a multitask setting. The metrics created and presented here give a novel path to automated design that allow evolved robots to synergize with their controller to improve the computational efficiency of their learning while overcoming catastrophic interference. Overall, this dissertation intimates the ability to automatically design robots that are more general purpose than current robots and that can perform various tasks while requiring less computation.Comment: arXiv admin note: text overlap with arXiv:2008.0639

Culture, Embodiment and Genes: Unravelling the Triple Helix

Much recent work stresses the role of embodiment and action in thought and reason, and celebrates the power of transmitted cultural and environmental structures to transform the problem-solving activity required of individual brains. By apparent contrast, much work in evolutionary psychology has stressed the selective fit of the biological brain to an ancestral environment of evolutionary adaptedness, with an attendant stress upon the limitations and cognitive biases that result. On the face of it, this suggests either a tension or, at least, a mismatch, with the symbiotic dyad of cultural evolution and embodied cognition. In what follows, we explore this mismatch by focusing on three key ideas: cognitive niche construction; cognitive modularity; and the existence (or otherwise) of an evolved universal human nature. An appreciation of the power and scope of the first, combined with consequently more nuanced visions of the latter two, allow us to begin to glimpse a much richer vision of the combined interactive potency of biological and cultural evolution for active, embodied agents

Harnessing the Power of Collective Intelligence: the Case Study of Voxel-based Soft Robots

The field of Evolutionary Robotics (ER) is concerned with the evolution of artificial agents---robots. Albeit groundbreaking, progress in the field has recently stagnated. In the research community, there is a strong feeling that a paradigm change has become necessary to disentangle ER. In particular, a solution has emerged from ideas from Collective Intelligence (CI). In CI---which has many relevant examples in nature---behavior emerges from the interaction between several components. In the absence of central intelligence, collective systems are usually more adaptable. In this thesis, we set out to harness the power of CI, focusing on the case study of simulated Voxel-based Soft Robots (VSRs): they are aggregations of homogeneous and soft cubic blocks that actuate by altering their volume. We investigate two axes. First, the morphologies of VSRs are intrinsically modular and an ideal substrate for CI; nevertheless, controllers employed until now do not take advantage of such modularity. Our results prove that VSRs can truly be controlled by the CI of their modules. Second, we investigate the spatial and time scales of CI. In particular, we evolve a robot to detect its global body properties given only local information processing, and, in a different study, generalize better to unseen environmental conditions through Hebbian learning. We also consider how evolution and learning interact in VSRs. Looking beyond VSRs, we propose a novel soft robot formalism that more closely resembles natural tissues and blends local with global actuation.The field of Evolutionary Robotics (ER) is concerned with the evolution of artificial agents---robots. Albeit groundbreaking, progress in the field has recently stagnated. In the research community, there is a strong feeling that a paradigm change has become necessary to disentangle ER. In particular, a solution has emerged from ideas from Collective Intelligence (CI). In CI---which has many relevant examples in nature---behavior emerges from the interaction between several components. In the absence of central intelligence, collective systems are usually more adaptable. In this thesis, we set out to harness the power of CI, focusing on the case study of simulated Voxel-based Soft Robots (VSRs): they are aggregations of homogeneous and soft cubic blocks that actuate by altering their volume. We investigate two axes. First, the morphologies of VSRs are intrinsically modular and an ideal substrate for CI; nevertheless, controllers employed until now do not take advantage of such modularity. Our results prove that VSRs can truly be controlled by the CI of their modules. Second, we investigate the spatial and time scales of CI. In particular, we evolve a robot to detect its global body properties given only local information processing, and, in a different study, generalize better to unseen environmental conditions through Hebbian learning. We also consider how evolution and learning interact in VSRs. Looking beyond VSRs, we propose a novel soft robot formalism that more closely resembles natural tissues and blends local with global actuation

A sensory system for robots using evolutionary artificial neural networks.

The thesis presents the research involved with developing an Intelligent Vision System for an animat that can analyse a visual scene in uncontrolled environments. Inspiration was drawn both from Biological Visual Systems and Artificial Image Recognition Systems. Several Biological Systems including the Insect, Toad and Human Visual Systems were studied alongside popular Pattern Recognition Systems such as fully connected Feedforward Networks, Modular Neural Networks and the Neocognitron. The developed system, called the Distributed Neural Network (DNN) was based on the sensory-motor connections in the common toad, Bufo Bufo. The sparsely connected network architecture has features of modularity enhanced by the presence of lateral inhibitory connections. It was implemented using Evolutionary Artificial Neural Networks (EANN). A novel method called FUSION was used to train the DNN, which is an amalgamation of several concepts of learning in Artificial Neural Networks such as Unsupervised Learning, Supervised Learning, Reinforcement Learning, Competitive Learning, Self-organisation and Fuzzy Logic. The DNN has unique feature detecting capabilities. When the DNN was tested using images that comprised of combination of features used in the training set, the DNN was successful in recognising individual features. The combinations of features were never used in the training set. This is a unique feature of the DNN trained using Fusion that cannot be matched by any other popular ANN architecture or training method. The system proved to be robust in dealing with New and Noisy Images. The unique features of the DNN make the network suitable for applications in robotics such as obstacle avoidance and terrain recognition, where the environment is unpredictable. The network can also be used in the field of Medical Imaging, Biometrics (Face and Finger Print Recognition) and Quality Inspection in the Food Processing Industry and applications in other uncontrolled environments

Evolving the behavior of machines: from micro to macroevolution

International audienceEvolution gave rise to creatures that are arguably more sophisticated than the greatest human-designed systems. This feat has inspired computer scientists since the advent of computing and led to optimization tools that can evolve complex neural networks for machines-an approach known as "neuroevolution". After a few successes in designing evolvable representations for high-dimensional artifacts, the field has been recently revitalized by going beyond optimization: to many, the wonder of evolution is less in the perfect optimization of each species than in the creativity of such a simple iterative process, that is, in the diversity of species. This modern view of artificial evolution is moving the field away from microevolution, following a fitness gradient in a niche, to macroevolution, filling many niches with highly different species. It already opened promising applications, like evolving gait repertoires, video game levels for different tastes, and diverse designs for aerodynamic bikes

Precis of neuroconstructivism: how the brain constructs cognition

Neuroconstructivism: How the Brain Constructs Cognition proposes a unifying framework for the study of cognitive development that brings together (1) constructivism (which views development as the progressive elaboration of increasingly complex structures), (2) cognitive neuroscience (which aims to understand the neural mechanisms underlying behavior), and (3) computational modeling (which proposes formal and explicit specifications of information processing). The guiding principle of our approach is context dependence, within and (in contrast to Marr [1982]) between levels of organization. We propose that three mechanisms guide the emergence of representations: competition, cooperation, and chronotopy; which themselves allow for two central processes: proactivity and progressive specialization. We suggest that the main outcome of development is partial representations, distributed across distinct functional circuits. This framework is derived by examining development at the level of single neurons, brain systems, and whole organisms. We use the terms encellment, embrainment, and embodiment to describe the higher-level contextual influences that act at each of these levels of organization. To illustrate these mechanisms in operation we provide case studies in early visual perception, infant habituation, phonological development, and object representations in infancy. Three further case studies are concerned with interactions between levels of explanation: social development, atypical development and within that, developmental dyslexia. We conclude that cognitive development arises from a dynamic, contextual change in embodied neural structures leading to partial representations across multiple brain regions and timescales, in response to proactively specified physical and social environment

Evolvability and organismal architecture:The blind watchmaker and the reminiscent architect

Organisms are constantly faced with the challenge of adapting to new circumstances. In this thesis, I argue that the ability to adapt to new circumstances, “evolvability”, is deeply ingrained in the genetic, developmental, morphological, and physiological architecture of organisms. Using a blend of conceptual research, theoretical modelling, and multidisciplinary studies, I demonstrate how organismal architecture can evolve so that organisms can cope better and better with future environmental challenges. As a first step, I systematically classify the many factors contributing to evolvability. Then I use a simulation approach to show how evolvability-enhancing structures can readily evolve in gene-regulatory networks. This happens via the evolution of "mutational transformers" - structural elements that convert random mutations at the genetic level into adaptation-enhancing mutations at the phenotypic level. In another thesis chapter, I demonstrate that even if selection acts only sporadically, complex adaptations can evolve and persist over long time periods. In other words, complex adaptations do not require constant selection pressure. In an interdisciplinary contribution, I apply biological insights regarding the properties of an evolvability-enhancing mutation structure to the design of algorithms used in Artificial Intelligence. The result is the “Facilitated Mutation” method which enhances the performance of the algorithms in various respects, highlighting the potential for leveraging biological principles in computational sciences. Finally, I embed my research findings in a philosophical context. I emphasise the importance of organismal architecture in retaining evolutionary memories and suggest future research directions to further enhance our understanding of evolvability