The evolutionary origins of hierarchy

Hierarchical organization -- the recursive composition of sub-modules -- is ubiquitous in biological networks, including neural, metabolic, ecological, and genetic regulatory networks, and in human-made systems, such as large organizations and the Internet. To date, most research on hierarchy in networks has been limited to quantifying this property. However, an open, important question in evolutionary biology is why hierarchical organization evolves in the first place. It has recently been shown that modularity evolves because of the presence of a cost for network connections. Here we investigate whether such connection costs also tend to cause a hierarchical organization of such modules. In computational simulations, we find that networks without a connection cost do not evolve to be hierarchical, even when the task has a hierarchical structure. However, with a connection cost, networks evolve to be both modular and hierarchical, and these networks exhibit higher overall performance and evolvability (i.e. faster adaptation to new environments). Additional analyses confirm that hierarchy independently improves adaptability after controlling for modularity. Overall, our results suggest that the same force--the cost of connections--promotes the evolution of both hierarchy and modularity, and that these properties are important drivers of network performance and adaptability. In addition to shedding light on the emergence of hierarchy across the many domains in which it appears, these findings will also accelerate future research into evolving more complex, intelligent computational brains in the fields of artificial intelligence and robotics.Comment: 32 page

Phase transitions in Pareto optimal complex networks

The organization of interactions in complex systems can be described by networks connecting different units. These graphs are useful representations of the local and global complexity of the underlying systems. The origin of their topological structure can be diverse, resulting from different mechanisms including multiplicative processes and optimization. In spatial networks or in graphs where cost constraints are at work, as it occurs in a plethora of situations from power grids to the wiring of neurons in the brain, optimization plays an important part in shaping their organization. In this paper we study network designs resulting from a Pareto optimization process, where different simultaneous constraints are the targets of selection. We analyze three variations on a problem finding phase transitions of different kinds. Distinct phases are associated to different arrangements of the connections; but the need of drastic topological changes does not determine the presence, nor the nature of the phase transitions encountered. Instead, the functions under optimization do play a determinant role. This reinforces the view that phase transitions do not arise from intrinsic properties of a system alone, but from the interplay of that system with its external constraints.Comment: 14 pages, 7 figure

Diffusion-based neuromodulation can eliminate catastrophic forgetting in simple neural networks

A long-term goal of AI is to produce agents that can learn a diversity of skills throughout their lifetimes and continuously improve those skills via experience. A longstanding obstacle towards that goal is catastrophic forgetting, which is when learning new information erases previously learned information. Catastrophic forgetting occurs in artificial neural networks (ANNs), which have fueled most recent advances in AI. A recent paper proposed that catastrophic forgetting in ANNs can be reduced by promoting modularity, which can limit forgetting by isolating task information to specific clusters of nodes and connections (functional modules). While the prior work did show that modular ANNs suffered less from catastrophic forgetting, it was not able to produce ANNs that possessed task-specific functional modules, thereby leaving the main theory regarding modularity and forgetting untested. We introduce diffusion-based neuromodulation, which simulates the release of diffusing, neuromodulatory chemicals within an ANN that can modulate (i.e. up or down regulate) learning in a spatial region. On the simple diagnostic problem from the prior work, diffusion-based neuromodulation 1) induces task-specific learning in groups of nodes and connections (task-specific localized learning), which 2) produces functional modules for each subtask, and 3) yields higher performance by eliminating catastrophic forgetting. Overall, our results suggest that diffusion-based neuromodulation promotes task-specific localized learning and functional modularity, which can help solve the challenging, but important problem of catastrophic forgetting

Network constraints on learnability of probabilistic motor sequences

Human learners are adept at grasping the complex relationships underlying incoming sequential input. In the present work, we formalize complex relationships as graph structures derived from temporal associations in motor sequences. Next, we explore the extent to which learners are sensitive to key variations in the topological properties inherent to those graph structures. Participants performed a probabilistic motor sequence task in which the order of button presses was determined by the traversal of graphs with modular, lattice-like, or random organization. Graph nodes each represented a unique button press and edges represented a transition between button presses. Results indicate that learning, indexed here by participants' response times, was strongly mediated by the graph's meso-scale organization, with modular graphs being associated with shorter response times than random and lattice graphs. Moreover, variations in a node's number of connections (degree) and a node's role in mediating long-distance communication (betweenness centrality) impacted graph learning, even after accounting for level of practice on that node. These results demonstrate that the graph architecture underlying temporal sequences of stimuli fundamentally constrains learning, and moreover that tools from network science provide a valuable framework for assessing how learners encode complex, temporally structured information.Comment: 29 pages, 4 figure

Spatial Gibbs random graphs

Many real-world networks of interest are embedded in physical space. We present a new random graph model aiming to reflect the interplay between the geometries of the graph and of the underlying space. The model favors configurations with small average graph distance between vertices, but adding an edge comes at a cost measured according to the geometry of the ambient physical space. In most cases, we identify the order of magnitude of the average graph distance as a function of the parameters of the model. As the proofs reveal, hierarchical structures naturally emerge from our simple modeling assumptions. Moreover, a critical regime exhibits an infinite number of discontinuous phase transitions.Comment: 29 pages, 5 figures. Revised from previous versio

Development of Multiple Behaviors in Evolving Robots

We investigate whether standard evolutionary robotics methods can be extended to support the evolution of multiple behaviors by forcing the retention of variations that are adaptive with respect to all required behaviors. This is realized by selecting the individuals located in the first Pareto fronts of the multidimensional fitness space in the case of a standard evolutionary algorithms and by computing and using multiple gradients of the expected fitness in the case of a modern evolutionary strategies that move the population in the direction of the gradient of the fitness. The results collected on two extended versions of state-of-the-art benchmarking problems indicate that the latter method permits to evolve robots capable of producing the required multiple behaviors in the majority of the replications and produces significantly better results than all the other methods considered