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Tags minutes skype-meeting
SUB-TASK 1: MORPHOGENESIS
Goal
To test the feasibility of the representation.
Spokesperson
- Michele (INRIA)
Partners
- Wenguo: explicit representation, task: create and test evolvability
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- Christopher will help Wenguo with building operators for the explicit representation.
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- Ronny: we have a genome which is evolvable and can build an organism. Tested in simulation.
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- Yao will work with Ronny
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- Inria, implicit representation, task: test evolvability
Other
What a good representation requires, depends on the size of the experiment/organism.
To bootstrap the evolution, we may need an alphabet of shapes; I, H, X, L, T.
- Ronny: A predefined alphabet may make it hard for evolution to find other shapes.
Initialization phase
For each representation we need to:
- Know which percentage of individuals is viable, when the genome is initialized randomly
- How long it takes to complete a shape
- Define crossover and mutation
- Know which percentage of offspring viable after crossover/mutation
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- The means for:
- Explicit: Is the expression well-formed?
- Implicit: does it converge
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The upper-bound on the size of organism is: 4-10.
Procedure
Everyone creates an experiment in their own simulator and sends their plan to Michele. Michele compiles this into a workplan?
SUB-TASK 2: ORGANISM CONTROL PARAMETERS
Goal
The goal is to compare CFG and AHHS and GRN (Yao-yao).
Task: walk, recognize the walls.
Spokeperson
- Juergen.
Partners
- Juergen (AHHS)
- Evert (CPG),
- Florian (CPG)
- Yao-yao (GRN)
Procedure
Evert sends an e-mail and organizes things.
SUB-TASK 3: INTERNAL REWARD
Goal
The goal is to re-calibrate the controller when a new shape is created; this recalibration is a nested optimization problem (on-line learning).
In order to optimize, we cannot use a external measure, so what is then criterion?
Options:
- Distance
- QI from the traces
- evolved QI (learning weights on the sensori-motor states) ** this might be too ambitious **
Spokesperson
- Evert
Partners
- Evert
- Michele
- Christopher
Procedure
Evert sends an e-mail and organizes discussion
SUB-TASK 4: SIMULATOR
Goal
Benchmark the simulator to get a feel for how large an experiment we can run in what time.
Spokesperson
- Berend
Partners
- Berend
- Anne
- Lutz
- Libor
Scenario
- Test#3: loose modules wandering, organisms moving randomly. Empty space with walls.
- Anne: appropriate sensors;
Other
Christopher: Do we keep all sensors on everywhere, or do we turn off sensors that are useless in simulator?
- For now we keep them all on, this is probably needed for AHHS anyway.
Berend: We will also simulate computational effort of crossover and mutation, to make the test as realistic as possible.
SCENARIO
- Procreating requires moving around.
- Egg receives 2 DNA; then becomes active and recruit others.
- A cell is an egg or a free cell.
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- Whether a robot is an egg or a free cell is fixed at the start of the simulation
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- An organism has a maximum lifetime (to be set later).
- An egg does not move