Lexicase Selection Outperforms Previous Strategies for Incremental Evolution of Virtual Creature Controllers

Evolving robust behaviors for robots has proven to be a challenging problem. Determining how to optimize behavior for a specific instance, while also realizing behaviors that generalize to variations on the problem often requires highly customized algorithms and problem-specific tuning of the evolutionary platform. Algorithms that can realize robust, generalized behavior without this customization are therefore highly desirable. In this paper, we examine the Lexicase selection algorithm as a possible general algorithm for a wall crossing robot task. Previous work has resulted in specialized strategies to evolve robust behaviors for this task. Here, we show that Lexicase selection is not only competitive with these strategies but after parameter tuning, actually exceeds the performance of the specialized algorithms

When Specialists Transition to Generalists: Evolutionary Pressure in Lexicase Selection

Generalized behavior is a long standing goal for evolutionary robotics. Behaviors for a given task should be robust to perturbation and capable of operating across a variety of environments. We have previously shown that Lexicase selection evolves high-performing individuals in a semi-generalized wall crossing task–i.e., where the task is broadly the same, but there is variation between individual instances. Further work has identified effective parameter values for Lexicase selection in this domain but other factors affecting and explaining performance remain to be identified. In this paper, we expand our prior investigations, examining populations over evolutionary time exploring other factors that might lead to generalized behavior. Results show that genomic clusters do not correspond to performance, indicating that clusters of specialists do not form within the population. While early individuals gain a foothold in the selection process by specializing on a few wall heights, successful populations are ultimately pressured towards generalized behavior. Finally, we find that this transition from specialists to generalists also leads to an increase in tiebreaks, a mechanism in Lexicase, during selection providing a metric to assess the performance of individual replicates

The Limits of Lexicase Selection in an Evolutionary Robotics Task

Agents exhibiting generalized control are capable of solving a theme of related tasks, rather than a specific instance. Here, generalized control pertains to the locomotive capacity of quadrupedal animats, evaluated when climbing over walls of varying height to reach a target. In prior work, we showed that Lexicase selection is more effective than other evolutionary algorithms for this wall crossing task. Generalized controllers capable of crossing the majority of wall heights are discovered, even though Lexicase selection does not sample all possible environments per generation. In this work, we further constrain environmental sampling during evolution, examining the resilience of Lexicase to the impoverished conditions. Through restricting the range of samples at given points in time as well as fixing environmental exposure over fractions of evolutionary time, we attempt to increase the ‘adjacency’ of environmental samples, and report on the response of the Lexicase algorithm to the pressure of this reduced environmental diversity. Results indicate that Lexicase is robust, producing viable agents even in considerably challenging conditions. We also see a positive correlation between the number of tiebreak events that occur and the success of individuals in a population, except in the most limiting conditions. We argue that the increased number of tiebreaks is a response to local maxima, and the increased diversity resulting from random selection at this point, is a key driver of the resilience of the Lexicase algorithm. We also show that in extreme cases, this relationship breaks down. We conclude that tiebreaking is an important control mechanism in Lexicase operation, and that the breakdown in performance observed in extreme conditions indicates an inability of the tiebreak mechanism to function effectively where population diversity is unable to reflect environmental diversity

Tiebreaks and Diversity: Isolating Effects in Lexicase Selection

A primary goal of evolutionary robotics (ER) is generalized control. That is, a robot controller should be capable of solving a variety of tasks in a domain, rather than only addressing specific instances of a task. Prior work has shown that Lexicase selection is more effective than other evolutionary algorithms for a wall crossing task domain where quadrupedal animats are evaluated on walls of varying height. In this work we expand baseline treatments in this task domain and examine specific aspects of the Lexicase selection algorithm across a variety of different parameter configurations. We identify the most effective Lexicase parameters for this task. Results indicate that Lexicase’s success is potentially due to maintaining population diversity at a higher level than other algorithms explored for this domain

Pain education for adolescents and young adults living beyond cancer: An interdisciplinary meeting report

© Copyright 2019, Mary Ann Liebert, Inc., publishers 2019. Pain is an understudied and undertreated consequence of cancer survival. Pain education is now a recommended treatment approach for persistent non-cancer pain, yet it has not been well applied to the context of adolescent and young adult (AYA) cancer survival. In March 2018, an interdisciplinary meeting was held in Adelaide, South Australia to set a research agenda for pain education in AYA cancer survivors. We identified that AYAs with persistent pain and those with heightened pain-related fear have the potential to benefit from pain education. We identified a number of unique challenges of engaging AYA survivors in pain education, and point towards future research directions

The chronic pain coping inventory: Confirmatory factor analysis of the French version

BACKGROUND: Coping strategies are among the psychosocial factors hypothesized to contribute to the development of chronic musculoskeletal disability. The Chronic Pain Coping Inventory (CPCI) was developed to assess eight behavioral coping strategies targeted in multidisciplinary pain treatment (Guarding, Resting, Asking for Assistance, Task Persistence, Relaxation, Exercise/Stretch, Coping Self-Statements and Seeking Social Support). The present study had two objectives. First, it aimed at measuring the internal consistency and the construct validity of the French version of the CPCI. Second, it aimed to verify if, as suggested by the CPCI authors, the scales of this instrument can be grouped according to the following coping families: Illness-focused coping and Wellness-focused coping. METHOD: The CPCI was translated into French with the forward and backward translation procedure. To evaluate internal consistency, Cronbach's alphas were computed. Construct validity of the inventory was estimated through confirmatory factor analysis (CFA) in two samples: a group of 439 Quebecois workers on sick leave in the sub-acute stage of low back pain (less than 84 days after the work accident) and a group of 388 French chronic pain patients seen in a pain clinic. A CFA was also performed to evaluate if the CPCI scales were grouped into two coping families (i.e. Wellness-focused and Illness-focused coping). RESULTS: The French version of the CPCI had adequate internal consistency in both samples. The CFA confirmed the eight-scale structure of the CPCI. A series of second-order CFA confirmed the composition of the Illness-focused family of coping (Guarding, Resting and Asking for Assistance). However, the composition of the Wellness-focused family of coping (Relaxation, Exercise/Stretch, Coping Self-Statements and Seeking Social Support) was different than the one proposed by the authors of the CPCI. Also, a positive correlation was observed between Illness and Wellness coping families. CONCLUSION: The present study indicates that the internal consistency and construct validity of the French version of the CPCI were adequate, but the grouping and labeling of the CPCI families of coping are debatable and deserve further analysis in the context of musculoskeletal and pain rehabilitation

Towards the “ultimate earthquake-proof” building: Development of an integrated low-damage system

The 2010–2011 Canterbury earthquake sequence has highlighted the severe mismatch between societal expectations over the reality of seismic performance of modern buildings. A paradigm shift in performance-based design criteria and objectives towards damage-control or low-damage design philosophy and technologies is urgently required. The increased awareness by the general public, tenants, building owners, territorial authorities as well as (re)insurers, of the severe socio-economic impacts of moderate-strong earthquakes in terms of damage/dollars/ downtime, has indeed stimulated and facilitated the wider acceptance and implementation of cost-efficient damage-control (or low-damage) technologies. The ‘bar’ has been raised significantly with the request to fast-track the development of what the wider general public would hope, and somehow expect, to live in, i.e. an “earthquake-proof” building system, capable of sustaining the shaking of a severe earthquake basically unscathed. The paper provides an overview of recent advances through extensive research, carried out at the University of Canterbury in the past decade towards the development of a low-damage building system as a whole, within an integrated performance-based framework, including the skeleton of the superstructure, the non-structural components and the interaction with the soil/foundation system. Examples of real on site-applications of such technology in New Zealand, using concrete, timber (engineered wood), steel or a combination of these materials, and featuring some of the latest innovative technical solutions developed in the laboratory are presented as examples of successful transfer of performance-based seismic design approach and advanced technology from theory to practice

Eyeblink conditioning in the infant rat: an animal model of learning in developmental neurotoxicology.

Classical conditioning of the eyeblink reflex is a relatively simple procedure for studying associative learning that was first developed for use with human subjects more than half a century ago. The use of this procedure in laboratory animals by psychologists and neuroscientists over the past 30 years has produced a powerful animal model for studying the behavioral and biological mechanisms of learning. As a result, eyeblink conditioning is beginning to be pursued as a very promising model for predicting and understanding human learning and memory disorders. Among the many advantages of this procedure are (a) the fact that it can be carried out in the same manner in both humans and laboratory animals; (b) the many ways in which it permits one to characterize changes in learning at the behavioral level; (c) the readiness with which hypotheses regarding the neurological basis of behavioral disorders can be formulated and tested; (d) the fact that it can be used in the same way across the life-span; and (e) its ability to distinguish, from normative groups, populations suffering from neurological conditions associated with impaired learning and memory, including those produced by exposure to neurotoxicants. In this article, we argue that these properties of eyeblink conditioning make it an excellent model system for studying early impairments of learning and memory in developmental neurotoxicology. We also review progress that has been made in our laboratory in developing a rodent model of infant eyeblink conditioning for this purpose

Lymphocyte subsets and the role of Th1/Th2 balance in stressed chronic pain patients

Background: The complex regional pain syndrome (CRPS) and fibromyalgia (FM) are chronic pain syndromes occurring in highly stressed individuals. Despite the known connection between the nervous system and immune cells, information on distribution of lymphocyte subsets under stress and pain conditions is limited. Methods: We performed a comparative study in 15 patients with CRPS type I, 22 patients with FM and 37 age- and sex-matched healthy controls and investigated the influence of pain and stress on lymphocyte number, subpopulations and the Th1/Th2 cytokine ratio in T lymphocytes. Results: Lymphocyte numbers did not differ between groups. Quantitative analyses of lymphocyte subpopulations showed a significant reduction of cytotoxic CD8+ lymphocytes in both CRPS (p < 0.01) and FM (p < 0.05) patients as compared with healthy controls. Additionally, CRPS patients were characterized by a lower percentage of IL-2-producing T cell subpopulations reflecting a diminished Th1 response in contrast to no changes in the Th2 cytokine profile. Conclusions: Future studies are warranted to answer whether such immunological changes play a pathogenetic role in CRPS and FM or merely reflect the consequences of a pain-induced neurohumoral stress response, and whether they contribute to immunosuppression in stressed chronic pain patients. Copyright (c) 2008 S. Karger AG, Basel