429 research outputs found
The evolvability of cooperation under local and non-local mutations
Funding: J.B.P. acknowledges funding from the Burroughs Wellcome Fund, the David and Lucile Packard Foundation, US Department of the Interior Grant D12AP00025, and Foundational Questions in Evolutionary Biology Fund Grant RFP-12-16.We study evolutionary dynamics in a population of individuals engaged in pairwise social interactions, encoded as iterated games. We consider evolution within the space of memory-1strategies, and we characterize all evolutionary robust outcomes, as well as their tendency to evolve under the evolutionary dynamics of the system. When mutations are restricted to be local, as opposed to non-local, then a wider range of evolutionary robust outcomes tend to emerge, but mutual cooperation is more difficult to evolve. When we further allow heritable mutations to the player’s investment level in each cooperative interaction, then co-evolution leads to changes in the payoff structure of the game itself and to specific pairings of robust games and strategies in the population. We discuss the implications of these results in the context of the genetic architectures that encode how an individual expresses its strategy or investment.Publisher PDFPeer reviewe
A Minimal Developmental Model Can Increase Evolvability in Soft Robots
Different subsystems of organisms adapt over many time scales, such as rapid
changes in the nervous system (learning), slower morphological and neurological
change over the lifetime of the organism (postnatal development), and change
over many generations (evolution). Much work has focused on instantiating
learning or evolution in robots, but relatively little on development. Although
many theories have been forwarded as to how development can aid evolution, it
is difficult to isolate each such proposed mechanism. Thus, here we introduce a
minimal yet embodied model of development: the body of the robot changes over
its lifetime, yet growth is not influenced by the environment. We show that
even this simple developmental model confers evolvability because it allows
evolution to sweep over a larger range of body plans than an equivalent
non-developmental system, and subsequent heterochronic mutations 'lock in' this
body plan in more morphologically-static descendants. Future work will involve
gradually complexifying the developmental model to determine when and how such
added complexity increases evolvability
Degeneracy: a link between evolvability, robustness and complexity in biological systems
A full accounting of biological robustness remains elusive; both in terms of the mechanisms by which robustness is achieved and the forces that have caused robustness to grow over evolutionary time. Although its importance to topics such as ecosystem services and resilience is well recognized, the broader relationship between robustness and evolution is only starting to be fully appreciated. A renewed interest in this relationship has been prompted by evidence that mutational robustness can play a positive role in the discovery of adaptive innovations (evolvability) and evidence of an intimate relationship between robustness and complexity in biology.
This paper offers a new perspective on the mechanics of evolution and the origins of complexity, robustness, and evolvability. Here we explore the hypothesis that degeneracy, a partial overlap in the functioning of multi-functional components, plays a central role in the evolution and robustness of complex forms. In support of this hypothesis, we present evidence that degeneracy is a fundamental source of robustness, it is intimately tied to multi-scaled complexity, and it establishes conditions that are necessary for system evolvability
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
From genotypes to organisms: State-of-the-art and perspectives of a cornerstone in evolutionary dynamics
Understanding how genotypes map onto phenotypes, fitness, and eventually
organisms is arguably the next major missing piece in a fully predictive theory
of evolution. We refer to this generally as the problem of the
genotype-phenotype map. Though we are still far from achieving a complete
picture of these relationships, our current understanding of simpler questions,
such as the structure induced in the space of genotypes by sequences mapped to
molecular structures, has revealed important facts that deeply affect the
dynamical description of evolutionary processes. Empirical evidence supporting
the fundamental relevance of features such as phenotypic bias is mounting as
well, while the synthesis of conceptual and experimental progress leads to
questioning current assumptions on the nature of evolutionary dynamics-cancer
progression models or synthetic biology approaches being notable examples. This
work delves into a critical and constructive attitude in our current knowledge
of how genotypes map onto molecular phenotypes and organismal functions, and
discusses theoretical and empirical avenues to broaden and improve this
comprehension. As a final goal, this community should aim at deriving an
updated picture of evolutionary processes soundly relying on the structural
properties of genotype spaces, as revealed by modern techniques of molecular
and functional analysis.Comment: 111 pages, 11 figures uses elsarticle latex clas
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