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Premature convergence in morphology and control co-evolution: a study 形态学与控制协同进化的过早收敛性研究
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-09-07 DOI: 10.1177/10597123231198497
Luis Eguiarte-Morett, Wendy Aguilar
This article addresses the co-evolution of morphology and control in evolutionary robotics, focusing on the challenge of premature convergence and limited morphological diversity. We conduct a comparative analysis of state-of-the-art algorithms, focusing on QD (Quality-Diversity) algorithms, based on a well-defined methodology for benchmarking evolutionary algorithms. We introduce carefully chosen indicators to evaluate their performance in three core aspects: task performance, phenotype diversity, and genotype diversity. Our findings highlight MNSLC (Multi-BC NSLC), with the introduction of aligned novelty to NSLC (Novelty Search with Local Competition), as the most effective algorithm for diversity preservation (genotype and phenotype diversity), while maintaining a competitive level of exploitability (task performance). MAP-Elites, although exhibiting a well-balanced trade-off between exploitation and exploration, fall short in protecting morphological diversity. NSLC, while showing similar performance to MNSLC in terms of exploration, is the least performant in terms of exploitation, contrasting with QN (Fitness-Novelty MOEA), which exhibits much superior exploitation, but inferior exploration, highlighting the effects of local competition in skewing the balance toward exploration. Our study provides valuable insights into the advantages, disadvantages, and trade-offs of different algorithms in co-evolving morphology and control.
本文讨论了进化机器人中形态学和控制的协同进化,重点讨论了过早收敛和形态学多样性有限的挑战。我们对最先进的算法进行了比较分析,重点是QD(质量多样性)算法,基于一种定义良好的基准进化算法方法。我们引入了精心选择的指标来评估他们在三个核心方面的表现:任务表现、表型多样性和基因型多样性。我们的研究结果突出了MNSLC(Multi-BC-NSLC),它在NSLC(具有局部竞争的新颖性搜索)中引入了一致的新颖性,是保持多样性(基因型和表型多样性)的最有效算法,同时保持了竞争水平的可利用性(任务性能)。MAP精英虽然在开发和勘探之间表现出了良好的平衡,但在保护形态多样性方面做得不够。NSLC虽然在勘探方面表现出与MNSLC相似的表现,但在开发方面表现最差,与QN(Fitness Novelty MOEA)形成鲜明对比,后者表现出更优越的开发,但勘探较差,突出了当地竞争对勘探平衡的影响。我们的研究为不同算法在协同进化形态和控制中的优势、劣势和权衡提供了有价值的见解。
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引用次数: 0
A novel framework to classify opinion dynamics of mobile agents under the bounded confidence model 基于有界置信模型的移动智能体意见动态分类新框架
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-09-06 DOI: 10.1177/10597123231195423
Enas E. Alraddadi, S. M. Allen, Gualtiero Colombo, R. Whitaker
The formation and evolution of public opinion have been widely studied to understand how consensus forms due to atomic interactions between individuals. While many studies have paid attention to modelling influence and interaction, most of the literature assumes static agents, ignoring the frequent changes in physical locations expected in real life. This feature naturally allows humans to interact with diverse people and avoid disagreement, which heavily impacts the co-evolution of opinions, communities or isolation in human societies. Our previous work proposed an extension of the bounded confidence model inspired by the theories of homophily and cognitive dissonance, which concern humans’ natural behaviours of attraction and disagreement. Although this demonstrated a marked difference to a static opinion model and purely random mobility, the limited experiments gave little insight into the causes or the resulting structures of consensus. This article addresses these shortcomings through a thorough investigation of the impact of mobility modelled by different mechanisms. Through extensive simulation, we observe a transition from multiple stable opinion clusters to complete consensus and a shift from a geographically based organisation to isolated structure-less agents. Lastly, we propose a novel classification of the different outcomes of self-organisation in opinion models, highlighting the patterns of emerging behaviours across the spectrum of interaction range and influence parameters.
公众舆论的形成和演变已经被广泛研究,以了解个体之间的原子相互作用是如何形成共识的。虽然许多研究都关注建模影响和相互作用,但大多数文献都假设了静态代理,忽略了现实生活中预期的物理位置的频繁变化。这一特征自然允许人类与不同的人互动,避免分歧,这严重影响了人类社会中意见、社区或孤立的共同进化。我们之前的工作提出了受同源性和认知失调理论启发的有限置信模型的扩展,这些理论涉及人类的自然吸引和不同意行为。尽管这表明了与静态意见模型和纯随机流动性的显著差异,但有限的实验几乎没有深入了解共识的原因或由此产生的结构。本文通过对不同机制建模的流动性影响的彻底调查,解决了这些缺点。通过广泛的模拟,我们观察到从多个稳定的意见集群到完全共识的转变,以及从基于地理位置的组织到孤立的无结构代理的转变。最后,我们对意见模型中自我组织的不同结果提出了一种新的分类,强调了在互动范围和影响参数范围内出现的行为模式。
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引用次数: 0
Cultural-biology: Our human living in conversations and reflection 文化生物学:我们人类生活在对话和反思中
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-08-28 DOI: 10.1177/10597123231197751
Ximena Dávila Yáñez, Humberto Maturana Romesín
More than 20 years ago, Humberto Maturana and Ximena Dávila initiated a research program on the nature of human coexistence within the framework of molecular-autopoietic systems and the understanding of the organism-niche ecological dynamic unit (UDEON). In this article, we focus on the potential of conversation and reflection of living beings as transformative and liberating practices in the configuration of intimate feelings that define at every moment their emotional-relational operation as a totality in the understanding of the worlds they generate. We refer to the main contributions of cultural-biology which invite us to a journey through the nature of knowing, of human pain and suffering, of languaging, conversation, and reflection as cultural-biology beings.
20多年前,Humberto Maturana和Ximena Dávila发起了一项研究计划,研究分子自造系统框架下人类共存的本质以及对生物生态位生态动力单元(UDEON)的理解。在这篇文章中,我们关注的是对话和反思的潜力,在亲密的感觉配置中,作为一种变革和解放的实践,在对它们所产生的世界的理解中,这种亲密的感觉每时每刻都将它们的情感关系操作定义为一个整体。我们指的是文化生物学的主要贡献,它邀请我们作为文化生物学的存在,通过认识的本质,人类的痛苦和苦难,语言,对话和反思,来进行一次旅程。
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引用次数: 1
The roots and blossoms of 4E cognition in Chile: Introduction to the Special Issue on 4E cognition in Chile 智利4E认知的根与花:智利4E认知特刊简介
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-08-24 DOI: 10.1177/10597123231197504
M. Villalobos, R. Videla
4E cognition (embodied, embedded, extended, and enactive) is a growing, open and pluralistic research tradition that offers new philosophical and scientific avenues to study the mind. Both its origins and current expansive movement are theoretically and geographically diverse. Chile, the mother country of the influential biologists Francisco Varela and Humberto Maturana, represents one of its roots, but also, as the variety of contributions in this special issue shows it, one of its fields of new blossoms. In this editorial introduction, regarding the roots, we focus on the enactive approach developed by Francisco Varela and its relationship with Maturana’s autopoietic theory. We discuss the way in which the particular theoretical and historical horizons of these two research programs conditioned, to a large extent, their philosophical stances regarding cognition. Regarding the new blossoms, we introduce the seven articles composing the present special issue and briefly comment on their contributions in terms of methodology, practical applications, theoretical extensions, and conceptual reflection.
4E认知(具体化、嵌入、扩展和实施)是一种不断发展、开放和多元的研究传统,为研究心灵提供了新的哲学和科学途径。它的起源和当前的扩张运动在理论上和地理上都是不同的。智利是有影响力的生物学家弗朗西斯科·瓦雷拉(Francisco Varela)和温贝托·马图拉纳(Humberto Maturana。在这篇社论的引言中,关于根源,我们重点关注弗朗西斯科·瓦雷拉提出的行为方法及其与马图拉纳的自我生成理论的关系。我们讨论了这两个研究项目的特定理论和历史视野在很大程度上制约了他们关于认知的哲学立场的方式。关于新的花朵,我们介绍了本期特刊的七篇文章,并简要评述了它们在方法论、实践应用、理论扩展和概念反思方面的贡献。
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引用次数: 0
Correlates of recreational risk-taking behavior: A comparison between the Tower Building Task and two self-report measures 娱乐冒险行为的相关性:Tower Building任务和两种自我报告测量之间的比较
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-07-20 DOI: 10.1177/10597123231189515
Joel C Hernández-Méndez, Santiago Gracia-Garrido, Robyn Hudson, M. Rosetti
Risk-taking is a ubiquitous behavior and its assessment is a central aspect of understanding human decision-making. Self-report questionnaires can be used to probe risk-taking propensities in a domain-specific manner. In contrast, most behavioral tools for risk-taking assessment provide nonspecific, unitary measures with a strong bias towards risk scenarios involving monetary gains and losses tied to probabilities. In the current work, we evaluate a behavioral task designed to specifically address recreational risk-taking, that is, situations where decision-making is driven by intrinsic motivation and performance is rewarding in its own right. For this, we chose the Tower Building Task (TBT), in which participants use wooden blocks to attempt to build the tallest tower they can; a trial ends if the building collapses, the allotted time ends, or the builder is satisfied with their tower. We correlated the TBT scores with each of the domains provided by two widely used self-report instruments, the Domain-Specific Risk-Taking scale (DOSPERT) and the Evolutionary Domain-Specific Risk scale (ERS). We found small, but significant correlations between TBT scores and those of (i) the recreational domain of the DOSPERT as well as (ii) the environmental exploration domain of the ERS. These correlation values reflect a small degree of similarity between these tests, suggesting that they capture some aspects of the complex construct that is recreation. However, the small magnitude of the correlations highlights the need for a complementary set of tools to evaluate the full spectrum of recreational risk-taking activities.
冒险是一种无处不在的行为,其评估是理解人类决策的一个核心方面。自我报告问卷可以用来以特定领域的方式调查冒险倾向。相比之下,大多数用于风险承担评估的行为工具提供了非具体的、单一的衡量标准,对涉及与概率相关的货币收益和损失的风险情景有强烈的偏见。在当前的工作中,我们评估了一项行为任务,该任务专门针对娱乐性的冒险行为,也就是说,决策是由内在动机驱动的,而表现本身就是有益的。为此,我们选择了塔楼建造任务(TBT),参与者使用木块尝试建造他们所能建造的最高的塔楼;如果建筑物倒塌,规定的时间结束,或者建造者对他们的塔感到满意,则试验结束。我们将TBT分数与两种广泛使用的自我报告工具——领域特定风险承担量表(DOSPERT)和进化领域特定风险量表(ERS)提供的每个领域相关联。我们发现TBT得分与(i) DOSPERT的娱乐领域和(ii) ERS的环境探索领域之间存在很小但显著的相关性。这些相关值反映了这些测试之间的小程度的相似性,表明它们捕获了娱乐这个复杂结构的某些方面。然而,相关性的小幅度强调了需要一套补充性的工具来评估娱乐冒险活动的全部范围。
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引用次数: 0
Sense-Making in the Wild: The Historical and Ecological Depth of Enactive Processes of Life and Cognition 野外的意义制造:生命和认知活动过程的历史和生态深度
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-07-17 DOI: 10.1177/10597123231190153
Miguel A Sepúlveda-Pedro
The enactive approach characterizes life and cognition as sense-making. The standard description of sense-making entails the co-emergence of an agent’s self and a meaningful world, as well as the emergence of a normativity that guides the behaviour of the coupled agent-environment system. This emergent process happens at different levels of interactions: biological, sensorimotor, intercorporeal and linguistic. Sense-making therefore accounts for the natural origins of intentionality and meaning and gives continuity to the emergent enactive processes of life and mind. The standard description of sense-making is nonetheless too abstract and neglects many historical and ecological aspects relevant to the scientific study of life and mind processes as they happen in concrete fields of action. To address this issue, I propose the enlarged description of sense-making in the wild, which is based on three fundamental concepts: norm development, enactive-situated normativity and transverse emergence. Norm development defines sense-making as a historically situated process that transforms the previously given dynamical configuration of the agent-environment system into a new one. Enactive-situated normativity asserts that in addition to the agent’s self-maintenance and the material constraints of the agent-environment system, many dynamical constraints, ecologically situated, shape the origin, maintenance and development of sense-making processes. Finally, transverse emergence describes the transformational process of the whole agent-environment system dynamically, as a reconfiguration of the landscape of attractors that exhibit the typical behaviour of the system. Sense-making in the wild thus aims to facilitate conceptual tools to study enactive cognition, as it happens in concrete fields of action.
行动的方法将生命和认知特征化为意义的创造。意义构建的标准描述需要agent的自我和一个有意义的世界的共同出现,以及指导耦合agent-环境系统行为的规范性的出现。这种突现过程发生在不同层次的相互作用中:生物的、感觉运动的、身体间的和语言的。因此,意义构建解释了意向性和意义的自然起源,并为生命和心灵的突发活动过程提供了连续性。然而,对意义建构的标准描述过于抽象,忽略了许多与生命和心理过程的科学研究相关的历史和生态方面,因为它们发生在具体的行动领域。为了解决这个问题,我提出了对野外意义形成的扩大描述,这是基于三个基本概念:规范发展、行为情境规范和横向涌现。规范发展将意义构建定义为将先前给定的代理-环境系统的动态配置转换为新配置的历史过程。行为情境规范认为,除了主体的自我维持和主体-环境系统的物质约束之外,许多动态约束,生态情境,塑造了意义生成过程的起源、维持和发展。最后,横向涌现描述了整个智能体-环境系统的动态转换过程,作为展示系统典型行为的吸引子景观的重新配置。因此,野外的意义构建旨在促进概念工具来研究行动认知,因为它发生在具体的行动领域。
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引用次数: 0
Cultural Evolution, Disinformation, and Social Division 文化进化、虚假信息与社会分化
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-07-03 DOI: 10.1177/10597123231186432
R. Bentley, Benjamin Horne, J. Borycz, S. Carrignon, Garriy Shteynberg, Blai Vidiella, S. Valverde, Michael J. O'Brien
Diversity of expertise is inherent to cultural evolution. When it is transparent, diversity of human knowledge is useful; when social conformity overcomes that transparency, “expertise” can lead to divisiveness. This is especially true today, where social media has increasingly allowed misinformation to spread by prioritizing what is recent and popular, regardless of validity or general benefit. Whereas in traditional societies there was diversity of expertise, contemporary social media facilitates homophily, which isolates true subject experts from each other and from the wider population. Diversity of knowledge thus becomes social division. Here, we discuss the potential of a cultural-evolutionary framework designed for the countless choices in contemporary media. Cultural-evolutionary theory identifies key factors that determine whether communication networks unify or fragment knowledge. Our approach highlights two parameters: transparency of information and social conformity. By identifying online spaces exhibiting aggregate patterns of high popularity bias and low transparency of information, we can help define the “safe limits” of social conformity and information overload in digital communications.
专业知识的多样性是文化进化所固有的。当它是透明的,人类知识的多样性是有用的;当社会一致性克服了这种透明度时,“专业知识”可能会导致分裂。今天尤其如此,社交媒体越来越允许错误信息传播,因为它优先考虑最近流行的内容,而不考虑有效性或普遍利益。在传统社会中,专业知识存在多样性,而当代社交媒体则促进了同质性,这将真正的学科专家相互隔离,并与更广泛的人群隔离开来。因此,知识的多样性变成了社会分化。在这里,我们讨论了为当代媒体中的无数选择而设计的文化进化框架的潜力。文化进化理论确定了决定通信网络是统一知识还是割裂知识的关键因素。我们的方法强调了两个参数:信息的透明度和社会一致性。通过识别表现出高人气偏见和低信息透明度的总体模式的在线空间,我们可以帮助定义数字通信中社会一致性和信息过载的“安全极限”。
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引用次数: 0
Entangled cognition in immersive learning experience 沉浸式学习体验中的纠缠认知
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-06-26 DOI: 10.1177/10597123231183996
C. Aguayo, Ronnie Videla-Reyes, T. Veloz
Immersive learning environments in education provide a set of rich and diverse learning affordances (possibilities). Cognition in such environments can be considered as embodied, enacted, embedded, and extended (the 4Es of cognition). During such cognitive happenings, we assume and live as valid everything we experience. Yet in this enactive structural coupling between individuals and their experiential world, another phenomenon occurs. We become a behaviorally inseparable entity with the virtual/immersive world. We become entangled with that virtual/immersive world. Here we propose that, within the framework of the 4Es of cognition, a recognizable lived experience phenomena occurs when learners engage with virtual or immersive learning environments. That is, cognition becomes entangled in immersive environments with alternative realities. Coming from the Santiago school of cognition, and building from ideas from immersive learning, 4E cognition, and quantum entanglement inspired in quantum cognition, we attempt to describe the process of entangled cognition happening in immersive learning environments. We recognize at least two levels of entanglement from the same recursive phenomenology: one we call a local entanglement, related to perception and sense-making; and a second we call a global entanglement, connected to the process and phenomena of human consciousness and meaning-making, accessible when conceived as a whole. We see the benefits for such a theoretical framework to ultimately guide, justify, and encourage the emergence of an epistemology shift in educational technology towards design principles that account for entangled cognition in immersive learning (and beyond), and the associated possibilities offered by new immersive technologies in education.
教育中的沉浸式学习环境提供了一套丰富多样的学习可供性(可能性)。在这种环境中的认知可以被认为是具体的、制定的、嵌入的和扩展的(认知的4E)。在这样的认知事件中,我们假设并生活在我们所经历的一切中。然而,在个人和他们的经验世界之间的这种行为性结构耦合中,另一种现象发生了。我们在行为上与虚拟/沉浸式世界密不可分。我们被那个虚拟的/身临其境的世界纠缠在一起。在这里,我们提出,在认知的4E框架内,当学习者参与虚拟或沉浸式学习环境时,就会出现可识别的生活体验现象。也就是说,认知陷入了具有替代现实的沉浸式环境中。我们来自圣地亚哥认知学派,从量子认知中启发的沉浸式学习、4E认知和量子纠缠的思想出发,试图描述纠缠认知在沉浸式学习环境中发生的过程。我们从同一递归现象学中认识到至少两个层次的纠缠:一个我们称之为局部纠缠,与感知和感知有关;第二种我们称之为全球纠缠,与人类意识和意义形成的过程和现象有关,当被视为一个整体时是可以理解的。我们看到了这样一个理论框架的好处,它可以最终指导、证明和鼓励教育技术向设计原则的认识论转变,这些原则解释了沉浸式学习(及其他)中的纠缠认知,以及新的沉浸式技术在教育中提供的相关可能性。
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引用次数: 1
On motivating irruptions: the need for a multilevel approach at the interface between life and mind 关于激励干扰:在生活和思想之间的界面上需要一个多层次的方法
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-06-25 DOI: 10.1177/10597123231184651
Ignacio Cea
In a recent remarkable article, Froese (2023) presents his Irruption Theory to explain how motivations can make a behavioral difference in motivated activity. In this opinion article, we review the main tenets of Froese’s theory, and highlight its difficulty in overcoming the randomness challenge it supposedly solves, that is, the issue of how adaptive behavior can arise in the face of material underdetermination. To advance our understanding of motivated behavior in line with Froese’s approach, we recommend that future work should endorse a multilevel pluralistic approach to causation and explanation in which motivations could genuinely play an irreducible role. Additionally, in line with the life-mind continuity thesis, we suggest that the best place to look for the interplay between motivations and nonmotivational physical, biological, and dynamical factors, may be at the level of the continuous feeling of being an embodied, living organism.
在最近一篇引人注目的文章中,Froese(2023)提出了他的干扰理论,以解释动机如何在有动机的活动中产生行为差异。在这篇观点文章中,我们回顾了Froese理论的主要原理,并强调了它在克服随机性挑战方面的困难,即面对物质的不确定性,适应性行为如何产生的问题。为了根据Froese的方法推进我们对动机行为的理解,我们建议未来的工作应该支持一种多层次的因果关系和解释方法,在这种方法中,动机可以真正发挥不可减少的作用。此外,根据生命-思维连续性理论,我们认为,寻找动机和非动机的物理、生物和动力因素之间相互作用的最佳场所可能是作为一个具体的、有生命的有机体的持续感觉。
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引用次数: 1
Emergence of altruistic behavior in heterogeneous populations of artificial agents by evolution of kin discrimination mechanism 亲属辨别机制的进化研究人工智能异质群体中利他主义行为的产生
IF 1.6 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-06-22 DOI: 10.1177/10597123231184652
Manuel Pardo, Alejandra Ciria, B. Lara
The emergence of altruistic behaviors in heterogeneous populations of autonomous robots, especially in signaling tasks, has proven to be a difficult problem to solve. However signaling and altruistic behaviors are present throughout the tree of life. Specially giving that, signaling behaviors seem to have evolved multiple times whenever there is a channel to emit a signal and one to receive it. In this work, this problem is addressed, using evolutionary algorithms, and modeling phenomena such as kin selection and kin discrimination in a biologically plausible way. We also used self-organizing maps to analyze the behavior of these populations during the evolutionary process, within the solution space. We believe that this approach can shed light on the predictive power of the Hamilton rule, the importance of kin selection in the evolution of altruistic behaviors, and how self-organizing maps can allow us to observe the different solutions in which the evolutionary algorithm converges through time.
在异质自主机器人群体中利他行为的出现,特别是在信号任务中,已被证明是一个难以解决的问题。然而,信号和利他行为存在于整个生命之树中。特别是考虑到这一点,每当有一个发射信号的通道和一个接收信号的通道时,信号行为似乎就会进化多次。在这项工作中,这个问题得到了解决,使用进化算法,并以生物学上合理的方式建模亲缘选择和亲缘歧视等现象。我们还使用自组织图来分析这些种群在进化过程中的行为,在解决方案空间内。我们相信,这种方法可以揭示汉密尔顿法则的预测能力,亲缘选择在利他行为进化中的重要性,以及自组织地图如何让我们观察到进化算法随时间收敛的不同解决方案。
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引用次数: 0
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Adaptive Behavior
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