Since the beginning of the COVID-19 pandemic, various models of virus spread have been proposed. While most of these models focused on the replication of the interaction processes through which the virus is passed on from infected agents to susceptible ones, less effort has been devoted to the process through which agents modify their behaviour as they adapt to the risks posed by the pandemic. Understanding the way agents respond to COVID-19 spread is important, as this behavioural response affects the dynamics of virus spread by modifying interaction patterns. In this article, we present an agent-based model that includes a behavioural module determining agent testing and isolation propensity in order to understand the role of various behavioural parameters in the spread of COVID-19.
{"title":"Self-Isolation and Testing Behaviour During the COVID-19 Pandemic: An Agent-Based Model","authors":"Umberto Gostoli;Eric Silverman","doi":"10.1162/artl_a_00392","DOIUrl":"10.1162/artl_a_00392","url":null,"abstract":"Since the beginning of the COVID-19 pandemic, various models of virus spread have been proposed. While most of these models focused on the replication of the interaction processes through which the virus is passed on from infected agents to susceptible ones, less effort has been devoted to the process through which agents modify their behaviour as they adapt to the risks posed by the pandemic. Understanding the way agents respond to COVID-19 spread is important, as this behavioural response affects the dynamics of virus spread by modifying interaction patterns. In this article, we present an agent-based model that includes a behavioural module determining agent testing and isolation propensity in order to understand the role of various behavioural parameters in the spread of COVID-19.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"29 1","pages":"94-117"},"PeriodicalIF":2.6,"publicationDate":"2023-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10734655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In many social, cyber-physical, and socio-technical systems, a group of autonomous peers can encounter a knowledge aggregation problem, requiring them to organise themselves, without a centralised authority, as a distributed information processing unit (DIP). In this article, we specify and implement a new algorithm for knowledge aggregation based on Nowak’s psychological theory Regulatory Theory of Social Influence (RTSI). This theory posits that social influence consists of not only sources trying to influence targets, but also targets seeking sources by whom to be influenced and learning what processing rules those sources are using. A multi-agent simulator SMARTSIS is implemented to evaluate the algorithm, using as its base scenario a linear public goods game where the DIP’s decision is a qualitative question of distributive justice. In a series of experiments examining the emergence of expertise, we show how RTSI enhances the effectiveness of the multi-agent DIP as a social group while conserving each agent’s individual resources. Additionally, we identify eight criteria for evaluating the DIP unit’s performance, consisting of four conflicting pairs of systemic drivers, and discuss how RTSI maintains a balanced tension between the four driver pairs through the emergence and divergence of expertise. We conclude by arguing that this shows how psychological theories like RTSI can have a crucial role in informing agent-based models of human behaviour, which in turn may be critically important for effective knowledge management and reflective self-improvement in both cyber-physical and socio-technical systems.
{"title":"Expertise, Social Influence, and Knowledge Aggregation in Distributed Information Processing","authors":"Asimina Mertzani;Jeremy Pitt;Andrzej Nowak;Tomasz Michalak","doi":"10.1162/artl_a_00387","DOIUrl":"10.1162/artl_a_00387","url":null,"abstract":"In many social, cyber-physical, and socio-technical systems, a group of autonomous peers can encounter a knowledge aggregation problem, requiring them to organise themselves, without a centralised authority, as a distributed information processing unit (DIP). In this article, we specify and implement a new algorithm for knowledge aggregation based on Nowak’s psychological theory Regulatory Theory of Social Influence (RTSI). This theory posits that social influence consists of not only sources trying to influence targets, but also targets seeking sources by whom to be influenced and learning what processing rules those sources are using. A multi-agent simulator SMARTSIS is implemented to evaluate the algorithm, using as its base scenario a linear public goods game where the DIP’s decision is a qualitative question of distributive justice. In a series of experiments examining the emergence of expertise, we show how RTSI enhances the effectiveness of the multi-agent DIP as a social group while conserving each agent’s individual resources. Additionally, we identify eight criteria for evaluating the DIP unit’s performance, consisting of four conflicting pairs of systemic drivers, and discuss how RTSI maintains a balanced tension between the four driver pairs through the emergence and divergence of expertise. We conclude by arguing that this shows how psychological theories like RTSI can have a crucial role in informing agent-based models of human behaviour, which in turn may be critically important for effective knowledge management and reflective self-improvement in both cyber-physical and socio-technical systems.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"29 1","pages":"37-65"},"PeriodicalIF":2.6,"publicationDate":"2023-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9284835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Social search has stably evolved across various species and is often used by humans to search for resources (such as food, information, social partners). In turn, these resources frequently come distributed in patches or clusters. In the current work, we use an ecologically inspired agent-based model to investigate whether social search and clustering are stable outcomes of the dynamical mutual interactions between the two. While previous research has studied unidirectional influences of social search on resource clustering and vice versa, the current work investigates the consequential patterns emerging from their two-way interactions over time. In our model, consumers evolved search strategies (ranging from competitive to social) as adaptations to their environmental resource structures, and resources varied in distributions (ranging from random to clustered) that were shaped by agents’ consumption patterns. Across four experiments, we systematically analyzed the patterns of influence that search strategies and environment structure have on each other to identify stable attractor states of both. In Experiment 1, we fixed resource clustering at various levels and observed its influence on social search, and in Experiment 2, we observed the influence of social search on resource distribution. In both these experiments we found that increasing levels of one variable produced increases in the other; however, at very high levels of the manipulated variable, the dependent variable tended to fall. Finally in Experiments 3 and 4, we studied the dynamics that arose when resource clustering and social search could both change and mutually influence each other, finding that low levels of social search and clustering were stable attractor states. Our simple 2D model yielded results that qualitatively resemble those across a wide range of search domains (from physical search for food to abstract search for information), highlighting some stable outcomes of mutually interacting consumer/resource systems.
{"title":"Social Search and Resource Clustering as Emergent Stable States","authors":"Mahi Luthra;Peter M. Todd","doi":"10.1162/artl_a_00391","DOIUrl":"10.1162/artl_a_00391","url":null,"abstract":"Social search has stably evolved across various species and is often used by humans to search for resources (such as food, information, social partners). In turn, these resources frequently come distributed in patches or clusters. In the current work, we use an ecologically inspired agent-based model to investigate whether social search and clustering are stable outcomes of the dynamical mutual interactions between the two. While previous research has studied unidirectional influences of social search on resource clustering and vice versa, the current work investigates the consequential patterns emerging from their two-way interactions over time. In our model, consumers evolved search strategies (ranging from competitive to social) as adaptations to their environmental resource structures, and resources varied in distributions (ranging from random to clustered) that were shaped by agents’ consumption patterns. Across four experiments, we systematically analyzed the patterns of influence that search strategies and environment structure have on each other to identify stable attractor states of both. In Experiment 1, we fixed resource clustering at various levels and observed its influence on social search, and in Experiment 2, we observed the influence of social search on resource distribution. In both these experiments we found that increasing levels of one variable produced increases in the other; however, at very high levels of the manipulated variable, the dependent variable tended to fall. Finally in Experiments 3 and 4, we studied the dynamics that arose when resource clustering and social search could both change and mutually influence each other, finding that low levels of social search and clustering were stable attractor states. Our simple 2D model yielded results that qualitatively resemble those across a wide range of search domains (from physical search for food to abstract search for information), highlighting some stable outcomes of mutually interacting consumer/resource systems.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"29 1","pages":"118-140"},"PeriodicalIF":2.6,"publicationDate":"2023-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9300250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Kevin Godin-Dubois;Sylvain Cussat-Blanc;Yves Duthen
While interest in artificial neural networks (ANNs) has been renewed by the ubiquitous use of deep learning to solve high-dimensional problems, we are still far from general artificial intelligence. In this article, we address the problem of emergent cognitive capabilities and, more crucially, of their detection, by relying on co-evolving creatures with mutable morphology and neural structure. The former is implemented via both static and mobile structures whose shapes are controlled by cubic splines. The latter uses ESHyperNEAT to discover not only appropriate combinations of connections and weights but also to extrapolate hidden neuron distribution. The creatures integrate low-level perceptions (touch/pain proprioceptors, retina-based vision, frequency-based hearing) to inform their actions. By discovering a functional mapping between individual neurons and specific stimuli, we extract a high-level module-based abstraction of a creature’s brain. This drastically simplifies the discovery of relationships between naturally occurring events and their neural implementation. Applying this methodology to creatures resulting from solitary and tag-team co-evolution showed remarkable dynamics such as range-finding and structured communication. Such discovery was made possible by the abstraction provided by the modular ANN which allowed groups of neurons to be viewed as functionally enclosed entities.
{"title":"Explaining the Neuroevolution of Fighting Creatures Through Virtual fMRI","authors":"Kevin Godin-Dubois;Sylvain Cussat-Blanc;Yves Duthen","doi":"10.1162/artl_a_00389","DOIUrl":"10.1162/artl_a_00389","url":null,"abstract":"While interest in artificial neural networks (ANNs) has been renewed by the ubiquitous use of deep learning to solve high-dimensional problems, we are still far from general artificial intelligence. In this article, we address the problem of emergent cognitive capabilities and, more crucially, of their detection, by relying on co-evolving creatures with mutable morphology and neural structure. The former is implemented via both static and mobile structures whose shapes are controlled by cubic splines. The latter uses ESHyperNEAT to discover not only appropriate combinations of connections and weights but also to extrapolate hidden neuron distribution. The creatures integrate low-level perceptions (touch/pain proprioceptors, retina-based vision, frequency-based hearing) to inform their actions. By discovering a functional mapping between individual neurons and specific stimuli, we extract a high-level module-based abstraction of a creature’s brain. This drastically simplifies the discovery of relationships between naturally occurring events and their neural implementation. Applying this methodology to creatures resulting from solitary and tag-team co-evolution showed remarkable dynamics such as range-finding and structured communication. Such discovery was made possible by the abstraction provided by the modular ANN which allowed groups of neurons to be viewed as functionally enclosed entities.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"29 1","pages":"66-93"},"PeriodicalIF":2.6,"publicationDate":"2023-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9284827","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
If human societies are so complex, then how can we hope to understand them? Artificial Life gives us one answer. The field of Artificial Life comprises a diverse set of introspective studies that largely ask the same questions, albeit from many different perspectives: Why are we here? Who are we? Why do we behave as we do? Starting with the origins of life provides us with fascinating answers to some of these questions. However, some researchers choose to bring their studies closer to the present day. We are, after all, human. It has been a few billion years since our ancestors were self-replicating molecules. Thus more direct studies of ourselves and our human societies can reveal truths that may lead to practical knowledge. The articles in this special issue bring together scientists who choose to perform this kind of research. Expanded from submissions to our annual Agent-Based Modelling of Human Behaviour Workshop, the studies share similar methods, all using variations of agent-based modeling (ABM) to ask their own what-if questions. As guest editors, we believe such collections help bring together and enhance such research by sharing ideas. While ABM research—out of necessity—is often highly specialized toward the hypotheses and phenomena under study, the research methodology is shared by all. We formulate our hypothesis, develop our agent-based model of the relevant aspects of reality, and run experiments to gather evidence that may support or refute the hypothesis. An experimental model that supports the hypothesis may not prove that reality follows this approach or agrees with this result, but it indicates that there exists a specific set of conditions that, if found to be true elsewhere, may produce the same result. Modeling tells us about trends, about possible likelihoods. Our ABMs show us what will result if our assumptions are valid and why, whether we are examining civil violence, app stores, the economy, fish markets, language evolution, or energy consumption. When we study human societies, ABMs are the tools of choice for obvious reasons: It is not ethical or safe to play what-if experiments with ourselves. The researchers in this special issue demonstrate the exciting potential in ABM. We can create our own safe virtual worlds and make discoveries that enlighten us about ourselves.
{"title":"The “Agent-Based Modeling for Human Behavior” Special Issue","authors":"Soo Ling Lim;Peter J. Bentley","doi":"10.1162/artl_e_00394","DOIUrl":"10.1162/artl_e_00394","url":null,"abstract":"If human societies are so complex, then how can we hope to understand them? Artificial Life gives us one answer. The field of Artificial Life comprises a diverse set of introspective studies that largely ask the same questions, albeit from many different perspectives: Why are we here? Who are we? Why do we behave as we do? Starting with the origins of life provides us with fascinating answers to some of these questions. However, some researchers choose to bring their studies closer to the present day. We are, after all, human. It has been a few billion years since our ancestors were self-replicating molecules. Thus more direct studies of ourselves and our human societies can reveal truths that may lead to practical knowledge. The articles in this special issue bring together scientists who choose to perform this kind of research. Expanded from submissions to our annual Agent-Based Modelling of Human Behaviour Workshop, the studies share similar methods, all using variations of agent-based modeling (ABM) to ask their own what-if questions. As guest editors, we believe such collections help bring together and enhance such research by sharing ideas. While ABM research—out of necessity—is often highly specialized toward the hypotheses and phenomena under study, the research methodology is shared by all. We formulate our hypothesis, develop our agent-based model of the relevant aspects of reality, and run experiments to gather evidence that may support or refute the hypothesis. An experimental model that supports the hypothesis may not prove that reality follows this approach or agrees with this result, but it indicates that there exists a specific set of conditions that, if found to be true elsewhere, may produce the same result. Modeling tells us about trends, about possible likelihoods. Our ABMs show us what will result if our assumptions are valid and why, whether we are examining civil violence, app stores, the economy, fish markets, language evolution, or energy consumption. When we study human societies, ABMs are the tools of choice for obvious reasons: It is not ethical or safe to play what-if experiments with ourselves. The researchers in this special issue demonstrate the exciting potential in ABM. We can create our own safe virtual worlds and make discoveries that enlighten us about ourselves.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"29 1","pages":"1-2"},"PeriodicalIF":2.6,"publicationDate":"2023-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10792470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
What role do affective feelings (feelings/emotions/moods) play in adaptive behaviour? What are the implications of this for understanding and developing artificial general intelligence? Leading theoretical models of brain function are beginning to shed light on these questions. While artificial agents have excelled within narrowly circumscribed and specialised domains, domain-general intelligence has remained an elusive goal in artificial intelligence research. By contrast, humans and nonhuman animals are characterised by a capacity for flexible behaviour and general intelligence. In this article I argue that computational models of mental phenomena in predictive processing theories of the brain are starting to reveal the mechanisms underpinning domain-general intelligence in biological agents, and can inform the understanding and development of artificial general intelligence. I focus particularly on approaches to computational phenomenology in the active inference framework. Specifically, I argue that computational mechanisms of affective feelings in active inference—affective self-modelling—are revealing of how biological agents are able to achieve flexible behavioural repertoires and general intelligence. I argue that (i) affective self-modelling functions to “tune” organisms to the most tractable goals in the environmental context; and (ii) affective and agentic self-modelling is central to the capacity to perform mental actions in goal-directed imagination and creative cognition. I use this account as a basis to argue that general intelligence of the level and kind found in biological agents will likely require machines to be implemented with analogues of affective self-modelling.
{"title":"Machines That Feel and Think: The Role of Affective Feelings and Mental Action in (Artificial) General Intelligence","authors":"George Deane","doi":"10.1162/artl_a_00368","DOIUrl":"10.1162/artl_a_00368","url":null,"abstract":"What role do affective feelings (feelings/emotions/moods) play in adaptive behaviour? What are the implications of this for understanding and developing artificial general intelligence? Leading theoretical models of brain function are beginning to shed light on these questions. While artificial agents have excelled within narrowly circumscribed and specialised domains, domain-general intelligence has remained an elusive goal in artificial intelligence research. By contrast, humans and nonhuman animals are characterised by a capacity for flexible behaviour and general intelligence. In this article I argue that computational models of mental phenomena in predictive processing theories of the brain are starting to reveal the mechanisms underpinning domain-general intelligence in biological agents, and can inform the understanding and development of artificial general intelligence. I focus particularly on approaches to computational phenomenology in the active inference framework. Specifically, I argue that computational mechanisms of affective feelings in active inference—affective self-modelling—are revealing of how biological agents are able to achieve flexible behavioural repertoires and general intelligence. I argue that (i) affective self-modelling functions to “tune” organisms to the most tractable goals in the environmental context; and (ii) affective and agentic self-modelling is central to the capacity to perform mental actions in goal-directed imagination and creative cognition. I use this account as a basis to argue that general intelligence of the level and kind found in biological agents will likely require machines to be implemented with analogues of affective self-modelling.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"28 3","pages":"289-309"},"PeriodicalIF":2.6,"publicationDate":"2022-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40555518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Bacterial chemotaxis in unicellular Escherichia coli, the simplest biological creature, enables it to perform effective searching behaviour even with a single sensor, achieved via a sequence of “tumbling” and “swimming” behaviours guided by gradient information. Recent studies show that suitable random walk strategies may guide the behaviour in the absence of gradient information. This article presents a novel and minimalistic biologically inspired search strategy inspired by bacterial chemotaxis and embodied intelligence concept: a concept stating that intelligent behaviour is a result of the interaction among the “brain,” body morphology including the sensory sensitivity tuned by the morphology, and the environment. Specifically, we present bacterial chemotaxis inspired searching behaviour with and without gradient information based on biological fluctuation framework: a mathematical framework that explains how biological creatures utilize noises in their behaviour. Via extensive simulation of a single sensor mobile robot that searches for a moving target, we will demonstrate how the effectiveness of the search depends on the sensory sensitivity and the inherent random walk strategies produced by the brain of the robot, comprising Ballistic, Levy, Brownian, and Stationary search. The result demonstrates the importance of embodied intelligence even in a behaviour inspired by the simplest creature.
{"title":"An Embodied Intelligence-Based Biologically Inspired Strategy for Searching a Moving Target","authors":"Julian K. P. Tan;Chee Pin Tan;Surya G. Nurzaman","doi":"10.1162/artl_a_00375","DOIUrl":"10.1162/artl_a_00375","url":null,"abstract":"Bacterial chemotaxis in unicellular Escherichia coli, the simplest biological creature, enables it to perform effective searching behaviour even with a single sensor, achieved via a sequence of “tumbling” and “swimming” behaviours guided by gradient information. Recent studies show that suitable random walk strategies may guide the behaviour in the absence of gradient information. This article presents a novel and minimalistic biologically inspired search strategy inspired by bacterial chemotaxis and embodied intelligence concept: a concept stating that intelligent behaviour is a result of the interaction among the “brain,” body morphology including the sensory sensitivity tuned by the morphology, and the environment. Specifically, we present bacterial chemotaxis inspired searching behaviour with and without gradient information based on biological fluctuation framework: a mathematical framework that explains how biological creatures utilize noises in their behaviour. Via extensive simulation of a single sensor mobile robot that searches for a moving target, we will demonstrate how the effectiveness of the search depends on the sensory sensitivity and the inherent random walk strategies produced by the brain of the robot, comprising Ballistic, Levy, Brownian, and Stationary search. The result demonstrates the importance of embodied intelligence even in a behaviour inspired by the simplest creature.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"28 3","pages":"348-368"},"PeriodicalIF":2.6,"publicationDate":"2022-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40636025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Modularity is a desirable property for embodied agents, as it could foster their suitability to different domains by disassembling them into transferable modules that can be reassembled differently. We focus on a class of embodied agents known as voxel-based soft robots (VSRs). They are aggregations of elastic blocks of soft material; as such, their morphologies are intrinsically modular. Nevertheless, controllers used until now for VSRs act as abstract, disembodied processing units: Disassembling such controllers for the purpose of module transferability is a challenging problem. Thus, the full potential of modularity for VSRs still remains untapped. In this work, we propose a novel self-organizing, embodied neural controller for VSRs. We optimize it for a given task and morphology by means of evolutionary computation: While evolving, the controller spreads across the VSR morphology in a way that permits emergence of modularity. We experimentally investigate whether such a controller (i) is effective and (ii) allows tuning of its degree of modularity, and with what kind of impact. To this end, we consider the task of locomotion on rugged terrains and evolve controllers for two morphologies. Our experiments confirm that our self-organizing, embodied controller is indeed effective. Moreover, by mimicking the structural modularity observed in biological neural networks, different levels of modularity can be achieved. Our findings suggest that the self-organization of modularity could be the basis for an automatic pipeline for assembling, disassembling, and reassembling embodied agents.
{"title":"Evolving Modularity in Soft Robots Through an Embodied and Self-Organizing Neural Controller","authors":"Federico Pigozzi;Eric Medvet","doi":"10.1162/artl_a_00367","DOIUrl":"10.1162/artl_a_00367","url":null,"abstract":"Modularity is a desirable property for embodied agents, as it could foster their suitability to different domains by disassembling them into transferable modules that can be reassembled differently. We focus on a class of embodied agents known as voxel-based soft robots (VSRs). They are aggregations of elastic blocks of soft material; as such, their morphologies are intrinsically modular. Nevertheless, controllers used until now for VSRs act as abstract, disembodied processing units: Disassembling such controllers for the purpose of module transferability is a challenging problem. Thus, the full potential of modularity for VSRs still remains untapped. In this work, we propose a novel self-organizing, embodied neural controller for VSRs. We optimize it for a given task and morphology by means of evolutionary computation: While evolving, the controller spreads across the VSR morphology in a way that permits emergence of modularity. We experimentally investigate whether such a controller (i) is effective and (ii) allows tuning of its degree of modularity, and with what kind of impact. To this end, we consider the task of locomotion on rugged terrains and evolve controllers for two morphologies. Our experiments confirm that our self-organizing, embodied controller is indeed effective. Moreover, by mimicking the structural modularity observed in biological neural networks, different levels of modularity can be achieved. Our findings suggest that the self-organization of modularity could be the basis for an automatic pipeline for assembling, disassembling, and reassembling embodied agents.","PeriodicalId":55574,"journal":{"name":"Artificial Life","volume":"28 3","pages":"322-347"},"PeriodicalIF":2.6,"publicationDate":"2022-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40592810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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