Biological and artificial embodied agents behave by acquiring information through sensors, processing that information, and acting on the environment. The sensory apparatus, i.e., the location on the body of the sensors and the kind of information the sensors are able to capture, has a great impact on the agent ability of exhibiting complex behaviors. While in nature, the sensory apparatus is the result of a long-lasting evolution, in artificial agents (robots) it is usually the result of a design choice. However, when the agents are complex and the design space is large, making that choice can be hard. In this paper, we explore the possibility of evolving the sensory apparatus of voxel-based soft robots (VSRs), a kind of simulated robots composed of multiple deformable components. VSRs, due to their intrinsic modularity, allow for great freedom in how to shape the robot body, brain, and sensory apparatus. We consider a set of sensors that allow the agent to sense itself and the environment (using vision and touch) and we show, experimentally, that the effectiveness of the sensory apparatus depends on the shape of the body and on the actuation capability, i.e., the VSR strength. Then we show that evolutionary optimization is able to evolve an effective sensory apparatus, even when constraints on the availability of the sensors are posed. By extending the adaptation to the sensory apparatus, beyond the body shape and the brain, we believe that our study takes a step forward to the ambitious path towards self-building robots.

The ever-increasing complexity of industrial and engineering problems poses nowadays a number of optimization problems characterized by thousands, if not millions, of variables. For instance, very large-scale problems can be found in chemical and material engineering, networked systems, logistics and scheduling. Recently, Deb and Myburgh proposed an evolutionary algorithm capable of handling a scheduling optimization problem with a staggering number of variables: one billion. However, one important limitation of this algorithm is its memory consumption, which is in the order of 120 GB. Here, we follow up on this research by applying to the same problem a GPU-enabled “compact” Genetic Algorithm, i.e., an Estimation of Distribution Algorithm that instead of using an actual population of candidate solutions only requires and adapts a probabilistic model of their distribution in the search space. We also introduce a smart initialization technique and custom operators to guide the search towards feasible solutions. Leveraging the compact optimization concept, we show how such an algorithm can optimize efficiently very large-scale problems with millions of variables, with limited memory and processing power. To complete our analysis, we report the results of the algorithm on very large-scale instances of the OneMax problem.

<div>According to Hebbian theory, synaptic plasticity is the ability of neurons to strengthen or weaken the synapses among them in response to stimuli. It plays a fundamental role in the processes of learning and memory of biological neural networks. With plasticity, biological agents can adapt on multiple timescales and outclass artificial agents, the majority of which still rely on static Artificial Neural Network (ANN) controllers. In this work, we focus on Voxel-based Soft Robots (VSRs), a class of simulated artificial agents, composed as aggregations of elastic cubic blocks. We propose a Hebbian ANN controller where every synapse is associated with a Hebbian rule that controls the way the weight is adapted during the VSR lifetime. For a given task and morphology, we optimize the controller for the task of locomotion by evolving, rather than the weights, the parameters of the Hebbian rules. Our results show that the Hebbian controller is comparable, often better than a non-Hebbian baseline and that it is more adaptable to unforeseen damages. We also provide novel insights into the inner workings of plasticity and demonstrate that "true" learning does take place, as the evolved controllers improve over the lifetime and generalize well.</div>

Remaining useful life (RUL) prediction is a key enabler for predictive maintenance. In fact, the possibility of accurately and reliably predicting the RUL of a system, based on a record of its monitoring data, can allow users to schedule maintenance interventions before faults occur. In the recent literature, several data-driven methods for RUL prediction have been proposed. However, most of them are based on traditional (connectivist) neural networks, such as convolutional neural networks, and alternative mechanisms have barely been explored. Here, we tackle the RUL prediction problem for the first time by using a membrane computing paradigm, namely that of Spiking Neural P (in short, SN P) systems. First, we show how SN P systems can be adapted to handle the RUL prediction problem. Then, we propose the use of a neuro-evolutionary algorithm to optimize the structure and parameters of the SN P systems. Our results on two datasets, namely the CMAPSS and new CMAPSS benchmarks from NASA, are fairly comparable with those obtained by much more complex deep networks, showing a reasonable compromise between performance and number of trainable parameters, which in turn correlates with memory consumption and computing time.

The concept of evolvability, that is the capacity to produce heritable and adaptive phenotypic variation, is crucial in the current understanding of evolution. However, while its meaning is intuitive, there is no consensus on how to quantitatively measure it. As a consequence, in evolutionary robotics, it is hard to evaluate the interplay between evolvability and fitness and its dependency on key factors like the evolutionary algorithm (EA) or the representation of the individuals. Here, we propose to use MAP-Elites, a well-established Quality Diversity EA, as a support structure for measuring evolvability and for highlighting its interplay with fitness. We map the solutions generated during the evolutionary process to a MAP-Elites-like grid and then visualize their fitness and evolvability as maps. This procedures does not affect the EA execution and can hence be applied to any EA: it only requires to have two descriptors for the solutions that can be used to meaningfully characterize them. We apply this general methodology to the case of Voxel-based Soft Robots (VSR), a kind of modular robots with a body composed of uniform elements whose volume is individually varied by the robot brain. Namely, we optimize the robots for the task of locomotion using evolutionary computation. We consider four representations, i.e., ways of transforming a genotype into a robot, two for the brain only and two for both body and brain of the VSR, and two EAs (MAP-Elites and a simple evolutionary strategy) and examine the evolvability and fitness maps. The experiments suggest that our methodology permits us to discover interesting patterns in the maps: fitness maps appear to depend more on the representation of the solution, whereas evolvability maps appear to depend more on the EA. As an aside, we find that MAP-Elites is particularly effective in the simultaneous evolution of the body and the brain of Voxel-based Soft Robots.