Introduction: The Fourth International Workshop on Epigenetic Robotics

As in the previous editions, this workshop is trying to be a forum for multi-disciplinary research ranging from developmental psychology to neural sciences (in its widest sense) and robotics including computational studies. This is a two-fold aim of, on the one hand, understanding the brain through engineering embodied systems and, on the other hand, building artificial epigenetic systems. Epigenetic contains in its meaning the idea that we are interested in studying development through interaction with the environment. This idea entails the embodiment of the system, the situatedness in the environment, and of course a prolonged period of postnatal development when this interaction can actually take place. This is still a relatively new endeavor although the seeds of the developmental robotics community were already in the air since the nineties (Berthouze and Kuniyoshi, 1998; Metta et al., 1999; Brooks et al., 1999; Breazeal, 2000; Kozima and Zlatev, 2000). A few had the intuition – see Lungarella et al. (2003) for a comprehensive review – that, intelligence could not be possibly engineered simply by copying systems that are “ready made” but rather that the development of the system fills a major role. This integration of disciplines raises the important issue of learning on the multiple scales of developmental time, that is, how to build systems that eventually can learn in any environment rather than program them for a specific environment. On the other hand, the hope is that robotics might become a new tool for brain science similarly to what simulation and modeling have become for the study of the motor system. Our community is still pretty much evolving and “under construction” and for this reason, we tried to encourage submissions from the psychology community. Additionally, we invited four neuroscientists and no roboticists for the keynote lectures. We received a record number of submissions (more than 50), and given the overall size and duration of the workshop together with our desire to maintain a single-track format, we had to be more selective than ever in the review process (a 20% acceptance rate on full papers). This is, if not an index of quality, at least an index of the interest that gravitates around this still new discipline

Introduction: The Third International Conference on Epigenetic Robotics

This paper summarizes the paper and poster contributions to the Third International Workshop on Epigenetic Robotics. The focus of this workshop is on the cross-disciplinary interaction of developmental psychology and robotics. Namely, the general goal in this area is to create robotic models of the psychological development of various behaviors. The term "epigenetic" is used in much the same sense as the term "developmental" and while we could call our topic "developmental robotics", developmental robotics can be seen as having a broader interdisciplinary emphasis. Our focus in this workshop is on the interaction of developmental psychology and robotics and we use the phrase "epigenetic robotics" to capture this focus

Adaptivity through alternate freeing and freezing of degrees of freedom

Starting with fewer degrees of freedom has been shown to enable a more efficient exploration of the sensorimotor space. While not necessarily leading to optimal task performance, it results in a smaller number of directions of stability, which guide the coordination of additional degrees of freedom. The developmental release of additional degrees of freedom is then expected to allow for optimal task performance and more tolerance and adaptation to environmental interaction. In this paper, we test this assumption with a small-sized humanoid robot that learns to swing under environmental perturbations. Our experiments show that a progressive release of degrees of freedom alone is not sufficient to cope with environmental perturbations. Instead, alternate freezing and freeing of the degrees of freedom is required. Such finding is consistent with observations made during transitional periods in acquisition of skills in infants

Temporal ordering of input modulates connectivity formation in a developmental neuronal network model of the cortex

Preterm infant brain activity is discontinuous; bursts of activity recorded using EEG (electroencephalography), thought to be driven by subcortical regions, display scale free properties and exhibit a complex temporal ordering known as long-range temporal correlations (LRTCs). During brain development, activity-dependent mechanisms are essential for synaptic connectivity formation, and abolishing burst activity in animal models leads to weak disorganised synaptic connectivity. Moreover, synaptic pruning shares similar mechanisms to spike-timing dependent plasticity (STDP), suggesting that the timing of activity may play a critical role in connectivity formation. We investigated, in a computational model of leaky integrate-and-fire neurones, whether the temporal ordering of burst activity within an external driving input could modulate connectivity formation in the network. Connectivity evolved across the course of simulations using an approach analogous to STDP, from networks with initial random connectivity. Small-world connectivity and hub neurones emerged in the network structure—characteristic properties of mature brain networks. Notably, driving the network with an external input which exhibited LRTCs in the temporal ordering of burst activity facilitated the emergence of these network properties, increasing the speed with which they emerged compared with when the network was driven by the same input with the bursts randomly ordered in time. Moreover, the emergence of small-world properties was dependent on the strength of the LRTCs. These results suggest that the temporal ordering of burst activity could play an important role in synaptic connectivity formation and the emergence of small-world topology in the developing brain

A maximum likelihood based technique for validating detrended fluctuation analysis (ML-DFA)

Detrended Fluctuation Analysis (DFA) is widely used to assess the presence of long-range temporal correlations in time series. Signals with long-range temporal correlations are typically defined as having a power law decay in their autocorrelation function. The output of DFA is an exponent, which is the slope obtained by linear regression of a log-log fluctuation plot against window size. However, if this fluctuation plot is not linear, then the underlying signal is not self-similar, and the exponent has no meaning. There is currently no method for assessing the linearity of a DFA fluctuation plot. Here we present such a technique, called ML-DFA. We scale the DFA fluctuation plot to construct a likelihood function for a set of alternative models including polynomial, root, exponential, logarithmic and spline functions. We use this likelihood function to determine the maximum likelihood and thus to calculate values of the Akaike and Bayesian information criteria, which identify the best fit model when the number of parameters involved is taken into account and over-fitting is penalised. This ensures that, of the models that fit well, the least complicated is selected as the best fit. We apply ML-DFA to synthetic data from FARIMA processes and sine curves with DFA fluctuation plots whose form has been analytically determined, and to experimentally collected neurophysiological data. ML-DFA assesses whether the hypothesis of a linear fluctuation plot should be rejected, and thus whether the exponent can be considered meaningful. We argue that ML-DFA is essential to obtaining trustworthy results from DFA.Comment: 22 pages, 7 figure

Using novelty-biased GA to sample diversity in graphs satisfying constraints

The structure of the network underlying many complex systems, whether artificial or natural, plays a significant role in how these systems operate. As a result, much emphasis has been placed on accurately describing networks using network theoretic metrics. When it comes to generating networks with similar properties, however, the set of available techniques and properties that can be controlled for remains limited. Further, whilst it is becoming clear that some of the metrics currently used to control the generation of such networks are not very prescriptive so that networks could potentially exhibit very different higher-order structure within those constraints, network generating algorithms typically produce fairly contrived networks and lack mechanisms by which to systematically explore the space of network solutions. In this paper, we explore the potential of a multi-objective novelty-biased GA to provide a viable alternative to these algorithms. We believe our results provide the first proof of principle that (i) it is possible to use GAs to generate graphs satisfying set levels of key classical graph theoretic properties and (ii) it is possible to generate diverse solutions within these constraints. The paper is only a preliminary step, however, and we identify key avenues for further development

Adaptivity through Physical Immaturity

Given a neural control structure, what would be the impact of body growth on control performance? This question, which addresses the issue of the interaction between innate structure, ongoing developing structure and experience, is very relevant to the field of epigenetic robotics. Much of the early social interaction is done as the body develops and the interplay cannot be ignored. We hypothesize that starting with fewer degrees of freedom enables a more efficient exploration of the sensorimotor space, that results in multiple directions of stability. While not necessarily corresponding to optimal task performance, they will guide the coordination of additional degrees of freedom. These additional degrees of freedom then allow for optimal task performance as well as for more tolerance and adaptation to environmental interaction. We propose a simple case-study to validate our hypothesis and describe experiments with a small humanoid robot