Minutes Converence Call

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SUB-TASK 1: MORPHOGENESIS

Goal

To test the feasibility of the representation.

Spokesperson

  • Michele (INRIA)

Partners

  • Wenguo: explicit representation, task: create and test evolvability
      • Christopher will help Wenguo with building operators for the explicit representation.
  • Ronny: we have a genome which is evolvable and can build an organism. Tested in simulation.
      • Yao will work with Ronny
  • 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
      • The means for:
      • Explicit: Is the expression well-formed?
      • Implicit: does it converge

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.
      • Whether a robot is an egg or a free cell is fixed at the start of the simulation
  • An organism has a maximum lifetime (to be set later).
  • An egg does not move

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