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Minutes Converence Call, November 17 - 18 Nov 2011 10:48
Global Task:
- Each leader writes a paragraph on the progress before Sunday night.
Synchronize the experiments in each subtask so that people do comparable experiments
- Every group holds a private skype when necesarry
- Important thing is that experiments are comparable
Subtask 1: Morphogenesis
- Wenguo has improved his representation to include different connection rotations and heterogeneity
- Yao: done some experiments in its simulator; working with Ronny to integrate his findings.
Tasks:
- Michele: Before sunday evening, paragraph summarizing progress.
- Wenguo: Create mutation, crossover. He will send them to Christopher who will help make them good
Subtask2: Organism Control
- Until November 30 everyone can use their own simulator
- By December 15 the solution should be running in Robot3D
- We postpone the decision until December 15th, as we need to be able to compare them and for that they need to run in the same simulator
- Everyone needs to be careful that 2 weeks to port your code may be short, so you should look into porting it sooner.
Tasks:
- Juergen: Before sunday evening, paragraph summarizing progress.
- Everyone: Send a short text (max 5 - 10 lines) on the progress you made
- Juergen has an implementation in his own simulator and will implement On-Line On-board evolution there first, and then move on to Robot3D
- Evert has an implementation in Wiibots and will first implement the inclusion of sensors there, and then move on to Robot3D
- Florian does not have his own simulator and will work in Robot3D immediately
- Yao has an implementation in his own simulator and will move toward Robot3D
- Ronny has an implementation in his own simulator
Subtask3: Internal Reward
- They will adapt an implementation of the QI to create a Static version of QI.
Tasks:
- Evert: Implement (he plan to do that before the week-end)
- There will be an internal discussion after the skype.
- Evert: Before sunday evening, paragraph summarizing progress.
Subtask 4: Simulator
- There are still some bugs that Lutz and Vojta are working on.
- For instance the plugin threads are currently faulty
- The target platform for now will be Ubuntu 11.04.
- Any bugs reported should be from this platform
- Report any bugs to Vojta
- We will organize a number of tutorials on using Robot3D
- First tutorial will be somewhere next week.
- Topics will include
- Getting, Compiling and Running Robot3D
- Where to write your controller code, and how to use it in the simulator
- Some examples
- Libor and crew have created a component which measures how fast/slow the simulation is compared to real time
- Several scenarios have been conceptualized and will be implemented
- First results somewhere next week (Wednesday?)
- Libor will investigate whether a publication can be made on the simulator
- The simulator may be a legacy of the project with desirable characteristics
Tasks:
- Berend: Before sunday evening, paragraph summarizing progress
- Berend: Confer with Anne and Vojta about bug-reporting and tracking!
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Minutes Converence Call - 10 Nov 2011 15:51
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
Tags: minutes skype-meeting | Comments: 0
