Self-building Neural Networks

During the first part of life, the brain develops while it learns through a process called synaptogenesis. The neurons, growing and interacting with each other, create synapses. However, eventually the brain prunes those synapses. While previous work focused on learning and pruning independently, in this work we propose a biologically plausible model that, thanks to a combination of Hebbian learning and pruning, aims to simulate the synaptogenesis process. In this way, while learning how to solve the task, the agent translates its experience into a particular network structure. Namely, the network structure builds itself during the execution of the task. We call this approach Self-building Neural Network (SBNN). We compare our proposed SBNN with traditional neural networks (NNs) over three classical control tasks from OpenAI. The results show that our model performs generally better than traditional NNs. Moreover, we observe that the performance decay while increasing the pruning rate is smaller in our model than with NNs. Finally, we perform a validation test, testing the models over tasks unseen during the learning phase. In this case, the results show that SBNNs can adapt to new tasks better than the traditional NNs, especially when over $80\%$ of the weights are pruned.Comment: To appear in the Genetic and Evolutionary Computation Conference Companion (GECCO '23 Companion) Proceedings, July 15--19, 2023, Lisbon, Portuga

Beyond Body Shape and Brain: Evolving the Sensory Apparatus of Voxel-Based Soft Robots

Biological and artificial embodied agents behave by acquiring information through sensors, processing that information, and acting on the environment. The sensory apparatus, i.e., the location on the body of the sensors and the kind of information the sensors are able to capture, has a great impact on the agent ability of exhibiting complex behaviors. While in nature, the sensory apparatus is the result of a long-lasting evolution, in artificial agents (robots) it is usually the result of a design choice. However, when the agents are complex and the design space is large, making that choice can be hard. In this paper, we explore the possibility of evolving the sensory apparatus of voxel-based soft robots (VSRs), a kind of simulated robots composed of multiple deformable components. VSRs, due to their intrinsic modularity, allow for great freedom in how to shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow the agent to sense itself and the environment (using vision and touch) and we show, experimentally, that the effectiveness of the sensory apparatus depends on the shape of the body and on the actuation capability, i.e., the VSR strength. Then we show that evolutionary optimization is able to evolve an effective sensory apparatus, even when constraints on the availability of the sensors are posed. By extending the adaptation to the sensory apparatus, beyond the body shape and the brain, we believe that our study takes a step forward to the ambitious path towards self-building robots

Evolving Hebbian Learning Rules in Voxel-based Soft Robots

According to Hebbian theory, synaptic plasticity is the ability of neurons to strengthen or weaken the synapses among them in response to stimuli. It plays a fundamental role in the processes of learning and memory of biological neural networks. With plasticity, biological agents can adapt on multiple timescales and outclass artificial agents, the majority of which still rely on static Artificial Neural Network (ANN) controllers. In this work, we focus on Voxel-based Soft Robots (VSRs), a class of simulated artificial agents, composed as aggregations of elastic cubic blocks. We propose a Hebbian ANN controller where every synapse is associated with a Hebbian rule that controls the way the weight is adapted during the VSR lifetime. For a given task and morphology, we optimize the controller for the task of locomotion by evolving, rather than the weights, the parameters of the Hebbian rules. Our results show that the Hebbian controller is comparable, often better than a non-Hebbian baseline and that it is more adaptable to unforeseen damages. We also provide novel insights into the inner workings of plasticity and demonstrate that “true” learning does take place, as the evolved controllers improve over the lifetime and generalize well

On the Entanglement between Evolvability and Fitness: an Experimental Study on Voxel-based Soft Robots

The concept of evolvability, that is the capacity to produce heritable and adaptive phenotypic variation, is crucial in the current understanding of evolution. However, while its meaning is intuitive, there is no consensus on how to quantitatively measure it. As a consequence, it is hard to evaluate the interplay between evolvability and fitness and its dependency on key factors like the evolutionary algorithm (EA) or the representation of the individuals. Here, we propose to use MAP-Elites, a well-established Quality Diversity EA, as a support structure for measuring evolvability and for highlighting its interplay with fitness. We map the solutions generated during the evolutionary process to a MAP-Elites-like grid and then visualize their fitness and evolvability as maps. This procedures does not affect the EA execution and can hence be applied to any EA: it only requires to have two descriptors for the solutions that can be used to meaningfully characterize them. We apply this general methodology to the case of Voxel-based Soft Robots, a kind of modular robots with a body composed of uniform elements whose volume is individually varied by the robot brain. Namely, we optimize the robots for the task of locomotion using evolutionary computation. We consider four representations, two for the brain only and two for both body and brain of the VSR, and two EAs (MAP-Elites and a simple evolutionary strategy) and examine the evolvability and fitness maps. The experiments suggest that our methodology permits to discover interesting patterns in the maps: fitness maps appear to depend more on the representation of the solution, whereas evolvability maps appear to depend more on the EA. As an aside, we find that MAP-Elites is particularly effective in the simultaneous evolution of the body and the brain of Voxel-based Soft Robots

Evolutionary Optimization of Spiking Neural P Systems for Remaining Useful Life Prediction

Remaining useful life (RUL) prediction is a key enabler for predictive maintenance. In fact, the possibility of accurately and reliably predicting the RUL of a system, based on a record of its monitoring data, can allow users to schedule maintenance interventions before faults occur. In the recent literature, several data-driven methods for RUL prediction have been proposed. However, most of them are based on traditional (connectivist) neural networks, such as convolutional neural networks, and alternative mechanisms have barely been explored. Here, we tackle the RUL prediction problem for the first time by using a membrane computing paradigm, namely that of Spiking Neural P (in short, SN P) systems. First, we show how SN P systems can be adapted to handle the RUL prediction problem. Then, we propose the use of a neuro-evolutionary algorithm to optimize the structure and parameters of the SN P systems. Our results on two datasets, namely the CMAPSS and new CMAPSS benchmarks from NASA, are fairly comparable with those obtained by much more complex deep networks, showing a reasonable compromise between performance and number of trainable parameters, which in turn correlates with memory consumption and computing time

Role of zinc trafficking in male fertility: from germ to sperm

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PDE-5 inhibitor, Vardenafil, increases circulating progenitor cells in humans.

Bone marrow-derived endothelial progenitor cells (EPCs) originate from haematopoietic stem cells in bone marrow and migrate into the peripheral circulation to promote endothelial repair and neovascularization. The number of circulating progenitor cells is reduced in patients with cardiovascular risk factor. The aim of our study was to determine the number of these cells in healthy patients and to evaluate the effect of Vardenfil, a phosphodiesterases-5 (PDE-5) inhibitor, in the number of circulating EPCs. In our study, we found a significant increase in the number of these cells after the drug administration

D-Aspartic acid stimulates steroidogenesis through the delay of LH receptor internalization in a mammalian Leydig cell line

Recent experimental evidence on non-mammalian animal models showed that D-Aspartic acid (d-Asp) administration increases testosterone levels through upregulation of StAR in Leydig cells. In this study, we aimed to investigate in vitro the signaling pathway associated with d-Asp stimulation in MA-10 murine Leydig cells

robotology/idyntree: iDynTree 10.1.0 (2024-01-09)

<h2>[10.1.0] - 2024-01-09</h2> <h3>Added</h3> <ul> <li><p>CMake: Permit to explicitly specify Python installation directory by setting the <code>IDYNTREE_PYTHON_INSTALL_DIR</code> CMake variable (https://github.com/robotology/idyntree/pull/1124).</p> </li> <li><p>MeshcatVisualizer: Add the possibility to remove a mesh from the visualizer (https://github.com/robotology/idyntree/pull/1138)</p> </li> </ul> <h3>Fixed</h3> <ul> <li>Fixed compilation of pybind11 bindings (https://github.com/robotology/idyntree/pull/1128).</li> <li>Fixed support for handling correctly STL files that end with <code>.STL</code> in iDynTree Irrlicht-based visualizer (https://github.com/robotology/idyntree/pull/1136).</li> <li>Fixed handling meshes with vertix count larger than a limit set in Irrlicht used by idyntree-yarp-visualizer (https://github.com/robotology/idyntree/pull/1139)</li> </ul&gt