Evolutionary Robotics The French Approach Jean-Arcady Meyer Commentator on the growth of the field....
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Transcript of Evolutionary Robotics The French Approach Jean-Arcady Meyer Commentator on the growth of the field....
Evolutionary Robotics
The French ApproachJean-Arcady Meyer
Commentator on the growthof the field.
Animats: artificial animalsanima-materials
Coined by S.W. Wilson in 1991
Meyer:
International ConferenceEvery two years:
From Animals to Animats: The International Conference on Simulation of Adaptive Behavior
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Jean-Arcady Meyer
in
Comparative Approaches toCognitive Science (1995),
edited by
Roitblat and Meyer.
“A major focus in cognitive science has been on modeling the performance of tasks that are characteristic of human intelligence, such as
“On the other hand, several investigators have recently suggested the possibility of a complementary comparative approach to cognitive science that seeks to determine in what respect faculties found only in man can be traced to the simplest adaptive processes inherited from animals.”
(p. 27)
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Jean-Arcady Meyer
in
Comparative Approaches toCognitive Science (1995),
edited by
Roitblat and Meyer.
“…animats are modeled as whole, albeit simple, organisms in real environmenst that are performing real biological tasks like exploring, mating, feeding, or escaping predators.”
“…they often can improve their adaptive capabilities through individual learning or by means of an evolutionary process involved several successive generations.”
(p. 27)
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Jean-Arcady Meyer
in
Comparative Approaches toCognitive Science (1995),
edited by
Roitblat and Meyer.
Three categories for animat research:
1. “behaviors have been entirely preprogrammed by their creator,
animats whose behaviors may be altered…
2. by processes that mimic individual learning or
3. collective evolution.”
(p. 28)
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Jean-Arcady Meyer
in
Comparative Approaches toCognitive Science (1995),
edited by
Roitblat and Meyer.
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
Several decisions about cognitive architecture:
More complicated as task becomes more difficult?
Centralized or distributed?
Which components should be mobilizedunder what conditions?
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Jean-Arcady Meyer
in
Comparative Approaches toCognitive Science (1995),
edited by
Roitblat and Meyer.
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
“Neuroethological approach”:simulate what is known aboutneuron function, andneural architectures in animals.
Beer (1990): Walking in hexapods:
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
“Neuroethological approach”:
Beer (1990): Walking in hexapods:
“If foot down, apply stance neuron force; otherwise, apply swing neuron force.”
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
“Neuroethological approach”:
Beer (1990): Eating in hexapods:
Behavior?
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
“Neuroethological approach”:
Beer (1990): Eating in hexapods:
Behavior?
If energy low, inhibition is low,so “feeding arousal” neuron fires.
Strengthen the amount of turning toward a food source.
If chemical sensed on right, turn right.If chemical sensed on left, suppress
turning toward the right.
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
“Neuroethological approach”:
Beer (1990): Eating in hexapods:
Behavior? Behavior?
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:1. “behaviors have been entirely preprogrammed by their creator… (p. 28)
“Neuroethological approach”:
Beer (1990): Putting it all together:
Beh
avio
rs
Sensory states
What does mutual inhibition do in this case?
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:2. “by processes that mimic individual learning”
(p. 28)
Reinforcement learning:Which actions to perform in order to maximizean external gain?
Z = reinforcementsignal
Klopf (1980)
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:2. “collective evolution.”
(p. 28)
Koza (1992):
Evolve a robot capable offollowing the edge of a maze.
Evolutionary Robotics
The French Approach
“The Animat Approach toCognitive Science”
Three categories for animat research:2. “collective evolution.”
(p. 28)
Koza (1992):MSD: Minimum safe distance
(2.0)EDG: Edging; preferred
distance from edge(2.3)
SS: Shortest sonar
PROGN2: Execute twosubtrees, returnvalue of second one.
IFLTE, if value returned byfirst subtreeis less than or equal tosecond subtree,return value of 3rd s.t.;elsereturn value of 4th s.t.
Evolutionary Robotics
Three categories for animat research:2. “collective evolution.”
(p. 28)
Koza (1992):
The French Approach
Evolutionary Robotics
Three categories for animat research:2. “collective evolution.”
(p. 28)
Koza (1992):
The French Approach