Evolvability signatures of generative encodings: beyond standard performance benchmarks

Evolutionary robotics is a promising approach to autonomously synthesize machines with abilities that resemble those of animals, but the field suffers from a lack of strong foundations. In particular, evolutionary systems are currently assessed solely by the fitness score their evolved artifacts can achieve for a specific task, whereas such fitness-based comparisons provide limited insights about how the same system would evaluate on different tasks, and its adaptive capabilities to respond to changes in fitness (e.g., from damages to the machine, or in new situations). To counter these limitations, we introduce the concept of "evolvability signatures", which picture the post-mutation statistical distribution of both behavior diversity (how different are the robot behaviors after a mutation?) and fitness values (how different is the fitness after a mutation?). We tested the relevance of this concept by evolving controllers for hexapod robot locomotion using five different genotype-to-phenotype mappings (direct encoding, generative encoding of open-loop and closed-loop central pattern generators, generative encoding of neural networks, and single-unit pattern generators (SUPG)). We observed a predictive relationship between the evolvability signature of each encoding and the number of generations required by hexapods to adapt from incurred damages. Our study also reveals that, across the five investigated encodings, the SUPG scheme achieved the best evolvability signature, and was always foremost in recovering an effective gait following robot damages. Overall, our evolvability signatures neatly complement existing task-performance benchmarks, and pave the way for stronger foundations for research in evolutionary robotics.Comment: 24 pages with 12 figures in the main text, and 4 supplementary figures. Accepted at Information Sciences journal (in press). Supplemental videos are available online at, see http://goo.gl/uyY1R

Effective Fitness Landscapes for Evolutionary Systems

In evolution theory the concept of a fitness landscape has played an important role, evolution itself being portrayed as a hill-climbing process on a rugged landscape. In this article it is shown that in general, in the presence of other genetic operators such as mutation and recombination, hill-climbing is the exception rather than the rule. This descrepency can be traced to the different ways that the concept of fitness appears --- as a measure of the number of fit offspring, or as a measure of the probability to reach reproductive age. Effective fitness models the former not the latter and gives an intuitive way to understand population dynamics as flows on an effective fitness landscape when genetic operators other than selection play an important role. The efficacy of the concept is shown using several simple analytic examples and also some more complicated cases illustrated by simulations.Comment: 11 pages, 8 postscript figure

Short-Term Memory Through Persistent Activity: Evolution of Self-Stopping and Self-Sustaining Activity in Spiking Neural Networks

Memories in the brain are separated in two categories: short-term and long-term memories. Long-term memories remain for a lifetime, while short-term ones exist from a few milliseconds to a few minutes. Within short-term memory studies, there is debate about what neural structure could implement it. Indeed, mechanisms responsible for long-term memories appear inadequate for the task. Instead, it has been proposed that short-term memories could be sustained by the persistent activity of a group of neurons. In this work, we explore what topology could sustain short-term memories, not by designing a model from specific hypotheses, but through Darwinian evolution in order to obtain new insights into its implementation. We evolved 10 networks capable of retaining information for a fixed duration between 2 and 11s. Our main finding has been that the evolution naturally created two functional modules in the network: one which sustains the information containing primarily excitatory neurons, while the other, which is responsible for forgetting, was composed mainly of inhibitory neurons. This demonstrates how the balance between inhibition and excitation plays an important role in cognition.Comment: 28 page

Digital Ecosystems: Ecosystem-Oriented Architectures

We view Digital Ecosystems to be the digital counterparts of biological ecosystems. Here, we are concerned with the creation of these Digital Ecosystems, exploiting the self-organising properties of biological ecosystems to evolve high-level software applications. Therefore, we created the Digital Ecosystem, a novel optimisation technique inspired by biological ecosystems, where the optimisation works at two levels: a first optimisation, migration of agents which are distributed in a decentralised peer-to-peer network, operating continuously in time; this process feeds a second optimisation based on evolutionary computing that operates locally on single peers and is aimed at finding solutions to satisfy locally relevant constraints. The Digital Ecosystem was then measured experimentally through simulations, with measures originating from theoretical ecology, evaluating its likeness to biological ecosystems. This included its responsiveness to requests for applications from the user base, as a measure of the ecological succession (ecosystem maturity). Overall, we have advanced the understanding of Digital Ecosystems, creating Ecosystem-Oriented Architectures where the word ecosystem is more than just a metaphor.Comment: 39 pages, 26 figures, journa

Particle swarm optimization with composite particles in dynamic environments

This article is placed here with the permission of IEEE - Copyright @ 2010 IEEEIn recent years, there has been a growing interest in the study of particle swarm optimization (PSO) in dynamic environments. This paper presents a new PSO model, called PSO with composite particles (PSO-CP), to address dynamic optimization problems. PSO-CP partitions the swarm into a set of composite particles based on their similarity using a "worst first" principle. Inspired by the composite particle phenomenon in physics, the elementary members in each composite particle interact via a velocity-anisotropic reflection scheme to integrate valuable information for effectively and rapidly finding the promising optima in the search space. Each composite particle maintains the diversity by a scattering operator. In addition, an integral movement strategy is introduced to promote the swarm diversity. Experiments on a typical dynamic test benchmark problem provide a guideline for setting the involved parameters and show that PSO-CP is efficient in comparison with several state-of-the-art PSO algorithms for dynamic optimization problems.This work was supported in part by the Key Program of the National Natural Science Foundation (NNSF) of China under Grant 70931001 and 70771021, the Science Fund for Creative Research Group of the NNSF of China under Grant 60821063 and 70721001, the Ph.D. Programs Foundation of the Ministry of education of China under Grant 200801450008, and by the Engineering and Physical Sciences Research Council of U.K. under Grant EP/E060722/1

Evolutionary connectionism: algorithmic principles underlying the evolution of biological organisation in evo-devo, evo-eco and evolutionary transitions

The mechanisms of variation, selection and inheritance, on which evolution by natural selection depends, are not fixed over evolutionary time. Current evolutionary biology is increasingly focussed on understanding how the evolution of developmental organisations modifies the distribution of phenotypic variation, the evolution of ecological relationships modifies the selective environment, and the evolution of reproductive relationships modifies the heritability of the evolutionary unit. The major transitions in evolution, in particular, involve radical changes in developmental, ecological and reproductive organisations that instantiate variation, selection and inheritance at a higher level of biological organisation. However, current evolutionary theory is poorly equipped to describe how these organisations change over evolutionary time and especially how that results in adaptive complexes at successive scales of organisation (the key problem is that evolution is self-referential, i.e. the products of evolution change the parameters of the evolutionary process). Here we first reinterpret the central open questions in these domains from a perspective that emphasises the common underlying themes. We then synthesise the findings from a developing body of work that is building a new theoretical approach to these questions by converting well-understood theory and results from models of cognitive learning. Specifically, connectionist models of memory and learning demonstrate how simple incremental mechanisms, adjusting the relationships between individually-simple components, can produce organisations that exhibit complex system-level behaviours and improve the adaptive capabilities of the system. We use the term “evolutionary connectionism” to recognise that, by functionally equivalent processes, natural selection acting on the relationships within and between evolutionary entities can result in organisations that produce complex system-level behaviours in evolutionary systems and modify the adaptive capabilities of natural selection over time. We review the evidence supporting the functional equivalences between the domains of learning and of evolution, and discuss the potential for this to resolve conceptual problems in our understanding of the evolution of developmental, ecological and reproductive organisations and, in particular, the major evolutionary transitions