An approach to evolve and exploit repertoires of general robot behaviours

Recent works in evolutionary robotics have shown the viability of evolution driven by behavioural novelty and diversity. These evolutionary approaches have been successfully used to generate repertoires of diverse and high-quality behaviours, instead of driving evolution towards a single, task-specific solution. Having repertoires of behaviours can enable new forms of robotic control, in which high-level controllers continually decide which behaviour to execute. To date, however, only the use of repertoires of open-loop locomotion primitives has been studied. We propose EvoRBC-II, an approach that enables the evolution of repertoires composed of general closed-loop behaviours, that can respond to the robot's sensory inputs. The evolved repertoire is then used as a basis to evolve a transparent higher-level controller that decides when and which behaviours of the repertoire to execute. Relying on experiments in a simulated domain, we show that the evolved repertoires are composed of highly diverse and useful behaviours. The same repertoire contains sufficiently diverse behaviours to solve a wide range of tasks, and the EvoRBC-II approach can yield a performance that is comparable to the standard tabula-rasa evolution. EvoRBC-II enables automatic generation of hierarchical control through a two-step evolutionary process, thus opening doors for the further exploration of the advantages that can be brought by hierarchical control.info:eu-repo/semantics/acceptedVersio

Novelty-driven cooperative coevolution

Cooperative coevolutionary algorithms (CCEAs) rely on multiple coevolving populations for the evolution of solutions composed of coadapted components. CCEAs enable, for instance, the evolution of cooperative multiagent systems composed of heterogeneous agents, where each agent is modelled as a component of the solution. Previous works have, however, shown that CCEAs are biased toward stability: the evolutionary process tends to converge prematurely to stable states instead of (near-)optimal solutions. In this study, we show how novelty search can be used to avoid the counterproductive attraction to stable states in coevolution. Novelty search is an evolutionary technique that drives evolution toward behavioural novelty and diversity rather than exclusively pursuing a static objective. We evaluate three novelty-based approaches that rely on, respectively (1) the novelty of the team as a whole, (2) the novelty of the agents’ individual behaviour, and (3) the combination of the two. We compare the proposed approaches with traditional fitness-driven cooperative coevolution in three simulated multirobot tasks. Our results show that team-level novelty scoring is the most effective approach, significantly outperforming fitness-driven coevolution at multiple levels. Novelty-driven cooperative coevolution can substantially increase the potential of CCEAs while maintaining a computational complexity that scales well with the number of populations.info:eu-repo/semantics/publishedVersio

Devising effective novelty search algorithms: A comprehensive empirical study

Novelty search is a state-of-the-art evolutionary approach that promotes behavioural novelty instead of pursuing a static objective. Along with a large number of successful applications, many different variants of novelty search have been proposed. It is still unclear, however, how some key parameters and algorithmic components influence the evolutionary dynamics and performance of novelty search. In this paper, we conduct a comprehensive empirical study focused on novelty search’s algorithmic components. We study the k parameter — the number of nearest neighbours used in the computation of novelty scores; the use and function of an archive; how to combine novelty search with fitness-based evolution; and how to configure the mutation rate of the underlying evolutionary algorithm. Our study is conducted in a simulated maze navigation task. Our results show that the configuration of novelty search can have a significant impact on performance and behaviour space exploration. We conclude with a number of guidelines for the implementation and configuration of novelty search, which should help future practitioners to apply novelty search more effectively.info:eu-repo/semantics/acceptedVersio

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

Novel approaches to cooperative coevolution of heterogeneous multiagent systems

Tese de doutoramento, Informática (Engenharia Informática), Universidade de Lisboa, Faculdade de Ciências, 2017Heterogeneous multirobot systems are characterised by the morphological and/or behavioural heterogeneity of their constituent robots. These systems have a number of advantages over the more common homogeneous multirobot systems: they can leverage specialisation for increased efficiency, and they can solve tasks that are beyond the reach of any single type of robot, by combining the capabilities of different robots. Manually designing control for heterogeneous systems is a challenging endeavour, since the desired system behaviour has to be decomposed into behavioural rules for the individual robots, in such a way that the team as a whole cooperates and takes advantage of specialisation. Evolutionary robotics is a promising alternative that can be used to automate the synthesis of controllers for multirobot systems, but so far, research in the field has been mostly focused on homogeneous systems, such as swarm robotics systems. Cooperative coevolutionary algorithms (CCEAs) are a type of evolutionary algorithm that facilitate the evolution of control for heterogeneous systems, by working over a decomposition of the problem. In a typical CCEA application, each agent evolves in a separate population, with the evaluation of each agent depending on the cooperation with agents from the other coevolving populations. A CCEA is thus capable of projecting the large search space into multiple smaller, and more manageable, search spaces. Unfortunately, the use of cooperative coevolutionary algorithms is associated with a number of challenges. Previous works have shown that CCEAs are not necessarily attracted to the global optimum, but often converge to mediocre stable states; they can be inefficient when applied to large teams; and they have not yet been demonstrated in real robotic systems, nor in morphologically heterogeneous multirobot systems. In this thesis, we propose novel methods for overcoming the fundamental challenges in cooperative coevolutionary algorithms mentioned above, and study them in multirobot domains: we propose novelty-driven cooperative coevolution, in which premature convergence is avoided by encouraging behavioural novelty; and we propose Hyb-CCEA, an extension of CCEAs that places the team heterogeneity under evolutionary control, significantly improving its scalability with respect to the team size. These two approaches have in common that they take into account the exploration of the behaviour space by the evolutionary process. Besides relying on the fitness function for the evaluation of the candidate solutions, the evolutionary process analyses the behaviour of the evolving agents to improve the effectiveness of the evolutionary search. The ultimate goal of our research is to achieve general methods that can effectively synthesise controllers for heterogeneous multirobot systems, and therefore help to realise the full potential of this type of systems. To this end, we demonstrate the proposed approaches in a variety of multirobot domains used in previous works, and we study the application of CCEAs to new robotics domains, including a morphological heterogeneous system and a real robotic system.Fundação para a Ciência e a Tecnologia (FCT, PEst-OE/EEI/LA0008/2011

Evaluation in artificial intelligence: From task-oriented to ability-oriented measurement

The final publication is available at Springer via http://dx.doi.org/ 10.1007/s10462-016-9505-7.The evaluation of artificial intelligence systems and components is crucial for the progress of the discipline. In this paper we describe and critically assess the different ways AI systems are evaluated, and the role of components and techniques in these systems. We first focus on the traditional task-oriented evaluation approach. We identify three kinds of evaluation: human discrimination, problem benchmarks and peer confrontation. We describe some of the limitations of the many evaluation schemes and competitions in these three categories, and follow the progression of some of these tests. We then focus on a less customary (and challenging) ability-oriented evaluation approach, where a system is characterised by its (cognitive) abilities, rather than by the tasks it is designed to solve. We discuss several possibilities: the adaptation of cognitive tests used for humans and animals, the development of tests derived from algorithmic information theory or more integrated approaches under the perspective of universal psychometrics. We analyse some evaluation tests from AI that are better positioned for an ability-oriented evaluation and discuss how their problems and limitations can possibly be addressed with some of the tools and ideas that appear within the paper. Finally, we enumerate a series of lessons learnt and generic guidelines to be used when an AI evaluation scheme is under consideration.I thank the organisers of the AEPIA Summer School On Artificial Intelligence, held in September 2014, for giving me the opportunity to give a lecture on 'AI Evaluation'. This paper was born out of and evolved through that lecture. The information about many benchmarks and competitions discussed in this paper have been contrasted with information from and discussions with many people: M. Bedia, A. Cangelosi, C. Dimitrakakis, I. GarcIa-Varea, Katja Hofmann, W. Langdon, E. Messina, S. Mueller, M. Siebers and C. Soares. Figure 4 is courtesy of F. Martinez-Plumed. Finally, I thank the anonymous reviewers, whose comments have helped to significantly improve the balance and coverage of the paper. This work has been partially supported by the EU (FEDER) and the Spanish MINECO under Grants TIN 2013-45732-C4-1-P, TIN 2015-69175-C4-1-R and by Generalitat Valenciana PROMETEOII2015/013.José Hernández-Orallo (2016). Evaluation in artificial intelligence: From task-oriented to ability-oriented measurement. Artificial Intelligence Review. 1-51. https://doi.org/10.1007/s10462-016-9505-7S151Abel D, Agarwal A, Diaz F, Krishnamurthy A, Schapire RE (2016) Exploratory gradient boosting for reinforcement learning in complex domains. arXiv preprint arXiv:1603.04119Adams S, Arel I, Bach J, Coop R, Furlan R, Goertzel B, Hall JS, Samsonovich A, Scheutz M, Schlesinger M, Shapiro SC, Sowa J (2012) Mapping the landscape of human-level artificial general intelligence. AI Mag 33(1):25–42Adams SS, Banavar G, Campbell M (2016) I-athlon: towards a multi-dimensional Turing test. AI Mag 37(1):78–84Alcalá J, Fernández A, Luengo J, Derrac J, García S, Sánchez L, Herrera F (2010) Keel data-mining software tool: data set repository, integration of algorithms and experimental analysis framework. J Mult Valued Logic Soft Comput 17:255–287Alexander JRM, Smales S (1997) Intelligence, learning and long-term memory. Personal Individ Differ 23(5):815–825Alpcan T, Everitt T, Hutter M (2014) Can we measure the difficulty of an optimization problem? In: IEEE information theory workshop (ITW)Alur R, Bodik R, Juniwal G, Martin MMK, Raghothaman M, Seshia SA, Singh R, Solar-Lezama A, Torlak E, Udupa A (2013) Syntax-guided synthesis. In: Formal methods in computer-aided design (FMCAD), 2013, IEEE, pp 1–17Alvarado N, Adams SS, Burbeck S, Latta C (2002) Beyond the Turing test: performance metrics for evaluating a computer simulation of the human mind. In: Proceedings of the 2nd international conference on development and learning, IEEE, pp 147–152Amigoni F, Bastianelli E, Berghofer J, Bonarini A, Fontana G, Hochgeschwender N, Iocchi L, Kraetzschmar G, Lima P, Matteucci M, Miraldo P, Nardi D, Schiaffonati V (2015) Competitions for benchmarking: task and functionality scoring complete performance assessment. IEEE Robot Autom Mag 22(3):53–61Anderson J, Lebiere C (2003) The Newell test for a theory of cognition. Behav Brain Sci 26(5):587–601Anderson J, Baltes J, Cheng CT (2011) Robotics competitions as benchmarks for AI research. Knowl Eng Rev 26(01):11–17Arel I, Rose DC, Karnowski TP (2010) Deep machine learning—a new frontier in artificial intelligence research. IEEE Comput Intell Mag 5(4):13–18Asada M, Hosoda K, Kuniyoshi Y, Ishiguro H, Inui T, Yoshikawa Y, Ogino M, Yoshida C (2009) Cognitive developmental robotics: a survey. IEEE Trans Auton Ment Dev 1(1):12–34Aziz H, Brill M, Fischer F, Harrenstein P, Lang J, Seedig HG (2015) Possible and necessary winners of partial tournaments. J Artif Intell Res 54:493–534Bache K, Lichman M (2013) UCI machine learning repository. http://archive.ics.uci.edu/mlBagnall AJ, Zatuchna ZV (2005) On the classification of maze problems. In: Bull L, Kovacs T (eds) Foundations of learning classifier system. Studies in fuzziness and soft computing, vol. 183, Springer, pp 305–316. http://rd.springer.com/chapter/10.1007/11319122_12Baldwin D, Yadav SB (1995) The process of research investigations in artificial intelligence - a unified view. IEEE Trans Syst Man Cybern 25(5):852–861Bellemare MG, Naddaf Y, Veness J, Bowling M (2013) The arcade learning environment: an evaluation platform for general agents. J Artif Intell Res 47:253–279Besold TR (2014) A note on chances and limitations of psychometric ai. In: KI 2014: advances in artificial intelligence. Springer, pp 49–54Biever C (2011) Ultimate IQ: one test to rule them all. New Sci 211(2829, 10 September 2011):42–45Borg M, Johansen SS, Thomsen DL, Kraus M (2012) Practical implementation of a graphics Turing test. In: Advances in visual computing. Springer, pp 305–313Boring EG (1923) Intelligence as the tests test it. New Repub 35–37Bostrom N (2014) Superintelligence: paths, dangers, strategies. Oxford University Press, OxfordBrazdil P, Carrier CG, Soares C, Vilalta R (2008) Metalearning: applications to data mining. Springer, New YorkBringsjord S (2011) Psychometric artificial intelligence. J Exp Theor Artif Intell 23(3):271–277Bringsjord S, Schimanski B (2003) What is artificial intelligence? Psychometric AI as an answer. In: International joint conference on artificial intelligence, pp 887–893Brundage M (2016) Modeling progress in ai. AAAI 2016 Workshop on AI, Ethics, and SocietyBuchanan BG (1988) Artificial intelligence as an experimental science. Springer, New YorkBuhrmester M, Kwang T, Gosling SD (2011) Amazon’s mechanical turk a new source of inexpensive, yet high-quality, data? Perspect Psychol Sci 6(1):3–5Bursztein E, Aigrain J, Moscicki A, Mitchell JC (2014) The end is nigh: generic solving of text-based captchas. In: Proceedings of the 8th USENIX conference on Offensive Technologies, USENIX Association, p 3Campbell M, Hoane AJ, Hsu F (2002) Deep Blue. Artif Intell 134(1–2):57–83Cangelosi A, Schlesinger M, Smith LB (2015) Developmental robotics: from babies to robots. MIT Press, CambridgeCaputo B, Müller H, Martinez-Gomez J, Villegas M, Acar B, Patricia N, Marvasti N, Üsküdarlı S, Paredes R, Cazorla M et al (2014) Imageclef 2014: overview and analysis of the results. In: Information access evaluation. Multilinguality, multimodality, and interaction, Springer, pp 192–211Carlson A, Betteridge J, Kisiel B, Settles B, Hruschka ER Jr, Mitchell TM (2010) Toward an architecture for never-ending language learning. In: AAAI, vol 5, p 3Carroll JB (1993) Human cognitive abilities: a survey of factor-analytic studies. Cambridge University Press, CambridgeCaruana R (1997) Multitask learning. Mach Learn 28(1):41–75Chaitin GJ (1982) Gödel’s theorem and information. Int J Theor Phys 21(12):941–954Chandrasekaran B (1990) What kind of information processing is intelligence? In: The foundation of artificial intelligence—a sourcebook. Cambridge University Press, pp 14–46Chater N (1999) The search for simplicity: a fundamental cognitive principle? Q J Exp Psychol Sect A 52(2):273–302Chater N, Vitányi P (2003) Simplicity: a unifying principle in cognitive science? Trends Cogn Sci 7(1):19–22Chu Z, Gianvecchio S, Wang H, Jajodia S (2010) Who is tweeting on twitter: human, bot, or cyborg? In: Proceedings of the 26th annual computer security applications conference, ACM, pp 21–30Cochran WG (2007) Sampling techniques. Wiley, New YorkCohen PR, Howe AE (1988) How evaluation guides AI research: the message still counts more than the medium. AI Mag 9(4):35Cohen Y (2013) Testing and cognitive enhancement. Technical repor, National Institute for Testing and Evaluation, Jerusalem, IsraelConrad JG, Zeleznikow J (2013) The significance of evaluation in AI and law: a case study re-examining ICAIL proceedings. In: Proceedings of the 14th international conference on artificial intelligence and law, ACM, pp 186–191Conrad JG, Zeleznikow J (2015) The role of evaluation in ai and law. In: Proceedings of the 15th international conference on artificial intelligence and law, pp 181–186Deary IJ, Der G, Ford G (2001) Reaction times and intelligence differences: a population-based cohort study. Intelligence 29(5):389–399Decker KS, Durfee EH, Lesser VR (1989) Evaluating research in cooperative distributed problem solving. Distrib Artif Intell 2:487–519Demšar J (2006) Statistical comparisons of classifiers over multiple data sets. J Mach Learn Res 7:1–30Detterman DK (2011) A challenge to Watson. Intelligence 39(2–3):77–78Dimitrakakis C (2016) Personal communicationDimitrakakis C, Li G, Tziortziotis N (2014) The reinforcement learning competition 2014. AI Mag 35(3):61–65Dowe DL (2013) Introduction to Ray Solomonoff 85th memorial conference. In: Dowe DL (ed) Algorithmic probability and friends. Bayesian prediction and artificial intelligence, lecture notes in computer science, vol 7070. Springer, Berlin, pp 1–36Dowe DL, Hajek AR (1997) A computational extension to the Turing Test. In: Proceedings of the 4th conference of the Australasian cognitive science society, University of Newcastle, NSW, AustraliaDowe DL, Hajek AR (1998) A non-behavioural, computational extension to the Turing test. In: International conference on computational intelligence and multimedia applications (ICCIMA’98), Gippsland, Australia, pp 101–106Dowe DL, Hernández-Orallo J (2012) IQ tests are not for machines, yet. Intelligence 40(2):77–81Dowe DL, Hernández-Orallo J (2014) How universal can an intelligence test be? Adapt Behav 22(1):51–69Drummond C (2009) Replicability is not reproducibility: nor is it good science. In: Proceedings of the evaluation methods for machine learning workshop at the 26th ICML, Montreal, CanadaDrummond C, Japkowicz N (2010) Warning: statistical benchmarking is addictive. Kicking the habit in machine learning. J Exp Theor Artif Intell 22(1):67–80Duan Y, Chen X, Houthooft R, Schulman J, Abbeel P (2016) Benchmarking deep reinforcement learning for continuous control. arXiv preprint arXiv:1604.06778Eden AH, Moor JH, Soraker JH, Steinhart E (2013) Singularity hypotheses: a scientific and philosophical assessment. Springer, New YorkEdmondson W (2012) The intelligence in ETI—what can we know? Acta Astronaut 78:37–42Elo AE (1978) The rating of chessplayers, past and present, vol 3. Batsford, LondonEmbretson SE, Reise SP (2000) Item response theory for psychologists. L. Erlbaum, HillsdaleEvans JM, Messina ER (2001) Performance metrics for intelligent systems. NIST Special Publication SP, pp 101–104Everitt T, Lattimore T, Hutter M (2014) Free lunch for optimisation under the universal distribution. In: 2014 IEEE Congress on evolutionary computation (CEC), IEEE, pp 167–174Falkenauer E (1998) On method overfitting. J Heuristics 4(3):281–287Feldman J (2003) Simplicity and complexity in human concept learning. Gen Psychol 38(1):9–15Ferrando PJ (2009) Difficulty, discrimination, and information indices in the linear factor analysis model for continuous item responses. Appl Psychol Meas 33(1):9–24Ferrando PJ (2012) Assessing the discriminating power of item and test scores in the linear factor-analysis model. Psicológica 33:111–139Ferri C, Hernández-Orallo J, Modroiu R (2009) An experimental comparison of performance measures for classification. Pattern Recogn Lett 30(1):27–38Ferrucci D, Brown E, Chu-Carroll J, Fan J, Gondek D, Kalyanpur AA, Lally A, Murdock J, Nyberg E, Prager J et al (2010) Building Watson: an overview of the DeepQA project. AI Mag 31(3):59–79Fogel DB (1991) The evolution of intelligent decision making in gaming. Cybern Syst 22(2):223–236Gaschnig J, Klahr P, Pople H, Shortliffe E, Terry A (1983) Evaluation of expert systems: issues and case studies. Build Exp Syst 1:241–278Geissman JR, Schultz RD (1988) Verification & validation. AI Exp 3(2):26–33Genesereth M, Love N, Pell B (2005) General game playing: overview of the AAAI competition. AI Mag 26(2):62Gerónimo D, López AM (2014) Datasets and benchmarking. In: Vision-based pedestrian protection systems for intelligent vehicles. Springer, pp 87–93Goertzel B, Pennachin C (eds) (2007) Artificial general intelligence. Springer, New YorkGoertzel B, Arel I, Scheutz M (2009) Toward a roadmap for human-level artificial general intelligence: embedding HLAI systems in broad, approachable, physical or virtual contexts. Artif Gen Intell Roadmap InitiatGoldreich O, Vadhan S (2007) Special issue on worst-case versus average-case complexity editors’ foreword. Comput complex 16(4):325–330Gordon BB (2007) Report on panel discussion on (re-)establishing or increasing collaborative links between artificial intelligence and intelligent systems. In: Messina ER, Madhavan R (eds) Proceedings of the 2007 workshop on performance metrics for intelligent systems, pp 302–303Gulwani S, Hernández-Orallo J, Kitzelmann E, Muggleton SH, Schmid U, Zorn B (2015) Inductive programming meets the real world. Commun ACM 58(11):90–99Hand DJ (2004) Measurement theory and practice. A Hodder Arnold Publication, LondonHernández-Orallo J (2000a) Beyond the Turing test. J Logic Lang Inf 9(4):447–466Hernández-Orallo J (2000b) On the computational measurement of intelligence factors. In: Meystel A (ed) Performance metrics for intelligent systems workshop. National Institute of Standards and Technology, Gaithersburg, pp 1–8Hernández-Orallo J (2000c) Thesis: computational measures of information gain and reinforcement in inference processes. AI Commun 13(1):49–50Hernández-Orallo J (2010) A (hopefully) non-biased universal environment class for measuring intelligence of biological and artificial systems. In: Artificial general intelligence, 3rd International Conference. Atlantis Press, Extended report at http://users.dsic.upv.es/proy/anynt/unbiased.pdf , pp 182–183Hernández-Orallo J (2014) On environment difficulty and discriminating power. Auton Agents Multi-Agent Syst. 29(3):402–454. doi: 10.1007/s10458-014-9257-1Hernández-Orallo J, Dowe DL (2010) Measuring universal intelligence: towards an anytime intelligence test. Artif Intell 174(18):1508–1539Hernández-Orallo J, Dowe DL (2013) On potential cognitive abilities in the machine kingdom. Minds Mach 23:179–210Hernández-Orallo J, Minaya-Collado N (1998) A formal definition of intelligence based on an intensional variant of Kolmogorov complexity. In: Proceedings of international symposium of engineering of intelligent systems (EIS’98), ICSC Press, pp 146–163Hernández-Orallo J, Dowe DL, España-Cubillo S, Hernández-Lloreda MV, Insa-Cabrera J (2011) On more realistic environment distributions for defining, evaluating and developing intelligence. In: Schmidhuber J, Thórisson K, Looks M (eds) Artificial general intelligence, LNAI, vol 6830. Springer, New York, pp 82–91Hernández-Orallo J, Flach P, Ferri C (2012a) A unified view of performance metrics: translating threshold choice into expected classification loss. J Mach Learn Res 13(1):2813–2869Hernández-Orallo J, Insa-Cabrera J, Dowe DL, Hibbard B (2012b) Turing Tests with Turing machines. In: Voronkov A (ed) Turing-100, EPiC Series, vol 10, pp 140–156Hernández-Orallo J, Dowe DL, Hernández-Lloreda MV (2014) Universal psychometrics: measuring cognitive abilities in the machine kingdom. Cogn Syst Res 27:50–74Hernández-Orallo J, Martínez-Plumed F, Schmid U, Siebers M, Dowe DL (2016) Computer models solving intelligence test problems: progress and implications. Artif Intell 230:74–107Herrmann E, Call J, Hernández-Lloreda MV, Hare B, Tomasello M (2007) Humans have evolved specialized skills of social cognition: the cultural intelligence hypothesis. Science 317(5843):1360–1366Hibbard B (2009) Bias and no free lunch in formal measures of intelligence. J Artif Gen Intell 1(1):54–61Hingston P (2010) A new design for a Turing Test for bots. In: 2010 IEEE symposium on computational intelligence and games (CIG), IEEE, pp 345–350Hingston P (2012) Believable bots: can computers play like people?. Springer, New YorkHo TK, Basu M (2002) Complexity measures of supervised classification problems. IEEE Trans Pattern Anal Mach Intell 24(3):289–300Hutter M (2007) Universal algorithmic intelligence: a mathematical top $$\rightarrow$$ → down approach. In: Goertzel B, Pennachin C (eds) Artificial general intelligence, cognitive technologies. Springer, Berlin, pp 227–290Igel C, Toussaint M (2005) A no-free-lunch theorem for non-uniform distributions of target functions. J Math Model Algorithms 3(4):313–322Insa-Cabrera J (2016) Towards a universal test of social intelligence. Ph.D. thesis, Departament de Sistemes Informátics i Computació, UPVInsa-Cabrera J, Dowe DL, España-Cubillo S, Hernández-Lloreda MV, Hernández-Orallo J (2011a) Comparing humans and ai agents. In: Schmidhuber J, Thórisson K, Looks M (eds) Artificial general intelligence, LNAI, vol 6830. Springer, New York, pp 122–132Insa-Cabrera J, Dowe DL, Hernández-Orallo J (2011) Evaluating a reinforcement learning algorithm with a general intelligence test. In: Lozano JA, Gamez JM (eds) Current topics in artificial intelligence. CAEPIA 2011, LNAI series 7023. Springer, New YorkInsa-Cabrera J, Benacloch-Ayuso JL, Hernández-Orallo J (2012) On measuring social intelligence: experiments on competition and cooperation. In: Bach J, Goertzel B, Iklé M (eds) AGI, lecture notes in computer science, vol 7716. Springer, New York, pp 126–135Jacoff A, Messina E, Weiss BA, Tadokoro S, Nakagawa Y (2003) Test arenas and performance metrics for urban search and rescue robots. In: Proceedings of 2003 IEEE/RSJ international conference on intelligent robots and systems, 2003 (IROS 2003), IEEE, vol 4, pp 3396–3403Japkowicz N, Shah M (2011) Evaluating learning algorithms. Cambridge University Press, CambridgeJiang J (2008) A literature survey on domain adaptation of statistical classifiers. http://sifaka.cs.uiuc.edu/jiang4/domain_adaptation/surveyJohnson M, Hofmann K, Hutton T, Bignell D (2016) The Malmo platform for artificial intelligence experimentation. In: International joint conference on artificial intelligence (IJCAI)Keith TZ, Reynolds MR (2010) Cattell–Horn–Carroll abilities and cognitive tests: what we’ve learned from 20 years of research. Psychol Schools 47(7):635–650Ketter W, Symeonidis A (2012) Competitive benchmarking: lessons learned from the trading agent competition. AI Mag 33(2):103Khreich W, Granger E, Miri A, Sabourin R (2012) A survey of techniques for incremental learning of HMM parameters. Inf Sci 197:105–130Kim JH (2004) Soccer robotics, vol 11. Springer, New YorkKitano H, Asada M, Kuniyoshi Y, Noda I, Osawa E (1997) Robocup: the robot world cup initiative. In: Proceedings of the first international conference on autonomous agents, ACM, pp 340–347Kleiner K (2011) Who are you calling bird-brained? An attempt is being made to devise a universal intelligence test. Economist 398(8723, 5 March 2011):82Knuth DE (1973) Sorting and searching, volume 3 of the art of computer programming. Addison-Wesley, ReadingKoza JR (2010) Human-competitive results produced by genetic programming. Genet Program Evolvable Mach 11(3–4):251–284Krueger J, Osherson D (1980) On the psychology of structural simplicity. In: Jusczyk PW, Klein RM (eds) The nature of thought: essays in honor of D. O. Hebb. Psychology Press, London, pp 187–205Langford J (2005) Clever methods of overfitting. Machine Learning (Theory). http://hunch.netLangley P (1987) Research papers in machine learning. Mach Learn 2(3):195–198Langley P (2011) The changing science of machine learning. Mach Learn 82(3):275–279Langley P (2012) The cognitive systems paradigm. Adv Cogn Syst 1:3–13Lattimore T, Hutter M (2013) No free lunch versus Occam’s razor in supervised learning. Algorithmic Probability and Friends. Springer, Bayesian Prediction and Artificial Intelligence, pp 223–235Leeuwenberg ELJ, Van Der Helm PA (2012) Structural information theory: the simplicity of visual form. Cambridge University Press, CambridgeLegg S, Hutter M (2007a) Tests of machine intelligence. In: Lungarella M, Iida F, Bongard J, Pfeifer R (eds) 50 Years of Artificial Intelligence, Lecture Notes in Computer Science, vol 4850, Springer Berlin Heidelberg, pp 232–242. doi: 10.1007/978-3-540-77296-5_22Legg S, Hutter M (2007b) Universal intelligence: a definition of machine intelligence. Minds Mach 17(4):391–444Legg S, Veness J (2013) An approximation of the universal intelligence measure. Algorithmic Probability and Friends. Springer, Bayesian Prediction and Artificial Intelligence, pp 236–249Levesque HJ (2014) On our best behaviour. Artif Intell 212:27–35Levesque HJ, Davis E, Morgenstern L (2012) The winog

Recent trends in robot learning and evolution for swarm robotics

Swarm robotics is a promising approach to control large groups of robots. However, designing the individual behavior of the robots so that a desired collective behavior emerges is still a major challenge. In recent years, many advances in the automatic design of control software for robot swarms have been made, thus making automatic design a promising tool to address this challenge. In this article, I highlight and discuss recent advances and trends in offline robot evolution, embodied evolution, and offline robot learning for swarm robotics. For each approach, I describe recent design methods of interest, and commonly encountered challenges. In addition to the review, I provide a perspective on recent trends and discuss how they might influence future research to help address the remaining challenges of designing robot swarms

Meta-Stability of Interacting Adaptive Agents

The adaptive process can be considered as being driven by two fundamental forces: exploitation and exploration. While the explorative process may be deterministic, the resultant effect may be stochastic. Stochastic effects may also exist in the expoitative process. This thesis considers the effects of stochastic fluctuations inherent in the adaptive process on the behavioural dynamics of a population of interacting agents. It is hypothesied that in such systems, one or more attractors in the population space exist; and that transitions between these attractors can occur; either as a result of internal shocks (sampling fluctuations) or external shocks (environmental changes). It is further postulated that such transitions in the (microscopic) population space may be observable as phase transitions in the behaviour of macroscopic observables. A simple model of a stock market, driven by asexual reproduction (selection plus mutation) is put forward as a testbed. A statistical dynamics analysis of the behaviour of this market is then developed. Fixed points in the space of agent behaviours are located, and market dynamics are compared to the analytic predictions. Additionally, an analysis of the relative importance of internal shocks(sampling fluctuations) and external shocks( the stock dividend sequence) across varying population size is presented