Fusing novelty and surprise for evolving robot morphologies

Traditional evolutionary algorithms tend to converge to a single good solution, which can limit their chance of discovering more diverse and creative outcomes. Divergent search, on the other hand, aims to counter convergence to local optima by avoiding selection pressure towards the objective. Forms of divergent search such as novelty or surprise search have proven to be beneficial for both the efficiency and the variety of the solutions obtained in deceptive tasks. Importantly for this paper, early results in maze navigation have shown that combining novelty and surprise search yields an even more effective search strategy due to their orthogonal nature. Motivated by the largely unexplored potential of coupling novelty and surprise as a search strategy, in this paper we investigate how fusing the two can affect the evolution of soft robot morphologies. We test the capacity of the combined search strategy against objective, novelty, and surprise search, by comparing their efficiency and robustness, and the variety of robots they evolve. Our key results demonstrate that novelty-surprise search is generally more efficient and robust across eight different resolutions. Further, surprise search explores the space of robot morphologies more broadly than any other algorithm examined.peer-reviewe

Characterization and cartography of some Mediterranean soft-bottom benthic communities (Ligurian Sea, Italy)

Soft-bottom benthic communities were studied along the Western coast of the Ligurian Sea with a new approach using both videocamera surveys and collected samples. The preliminary distribution of soft-bottoms and the definition of the limits and status of seagrass beds were carried out in September 1991, using an underwater vehicle provided with a videocamera and towed by a boat. Moreover, 90 benthic samples were collected at 5-40 m depth in order to characterize the macrobenthic soft-bottom communities. Six soft-bottom benthic assemblages and two sea grass biotopes (Cymodocea nodosa and Posidonia oceanica) were revealed by means of underwater images and multivariate analysis (TWINSPAN) on samples collected. The communities inhabiting the infralittoral sandy and coarse sediments corresponded to those previously described in the Mediterranean Sea, whereas a large complex transition between sandy and muddy communities was recognized on circalittoral soft-bottoms. Information obtained with this approach was used to draw a map of the investigated areas at 1:10,000 scale. The employment of the two techniques was cost effective for both time and research effort

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

Constrained surprise search for content generation

In procedural content generation, it is often desirable to create artifacts which not only fulfill certain playability constraints but are also able to surprise the player with unexpected potential uses. This paper applies a divergent evolutionary search method based on surprise to the constrained problem of generating balanced and efficient sets of weapons for the Unreal Tournament III shooter game. The proposed constrained surprise search algorithm ensures that pairs of weapons are sufficiently balanced and effective while also rewarding unexpected uses of these weapons during game simulations with artificial agents. Results in the paper demonstrate that searching for surprise can create functionally diverse weapons which require new gameplay patterns of weapon use in the game.This work has been supported, in part, by the FP7 Marie Curie CIG project AutoGameDesign (project no: 630665) and the Horizon 2020 project CrossCult (project no: 693150).peer-reviewe

LASS hardware processor

The problems of data analysis with hardware processors are reviewed, and a description is given for a programmable processor. This processor, the 168/E, was designed for use in the LASS multi-processor system; it has an execution speed comparable to that of the IBM 370/168 and uses the subset of IBM 370 instructions appropriate to the LASS analysis task. 2 figures, 2 tables

Eficiência de indutores de resistência sobre a mosca-branca Bemisia tabaci tiótipo B (Hemiptera: Aleyrodidae).

Neste trabalho objetivou-se avaliar a eficiência de indutores de resistência (fertilizantes organominerais) sobre adultos de B. tabaci.Resumo 0790