Surprise search : beyond objectives and novelty

Grounded in the divergent search paradigm and inspired by the principle of surprise for unconventional discovery in computational creativity, this paper introduces surprise search as a new method of evolutionary divergent search. Surprise search is tested in two robot navigation tasks and compared against objective-based evolutionary search and novelty search. The key findings of this paper reveal that surprise search is advantageous compared to the other two search processes. It outperforms objective search and it is as efficient as novelty search in both tasks examined. Most importantly, surprise search is, on average, faster and more robust in solving the navigation problem compared to ob- jective and novelty search. Our analysis reveals that sur- prise search explores the behavioral space more extensively and yields higher population diversity compared to novelty search.This work has been supported in part by the FP7 Marie Curie CIG project AutoGameDesign (project no: 630665). The authors would also like to thank Dora Lee Borg for initial implementations of the algorithm.peer-reviewe