Evolving experience-dependent robust behaviour in embodied agents

In this work, based on behavioural and dynamical evidence, a study of simulated agents with the capacity to change feedback from their bodies to accomplish a one-legged walking task is proposed to understand the emergence of coupled dynamics for robust behaviour. Agents evolve with evolutionary-defined biases that modify incoming body signals (sensory offsets). Analyses on whether these agents show further dependence to their environmental coupled dynamics than others with no feedback control is described in this article. The ability to sustain behaviours is tested during lifetime experiments with mutational and sensory perturbations after evolution. Using dynamical systems analysis, this work identifies conditions for the emergence of dynamical mechanisms that remain functional despite sensory perturbations. Results indicate that evolved agents with evolvable sensory offset depends not only on where in neural space the state of the neural system operates, but also on the transients to which the inner-system was being driven by sensory signals from its interactions with the environment, controller, and agent body. Experimental evidence here leads discussions on a dynamical systems perspective on behavioural robustness that goes beyond attractors of controller phase space.     

From network-to-antibody robustness in a bio-inspired immune system

Behavioural robustness at antibody and immune network level is discussed. The robustness of the immune response that drives an autonomous mobile robot is examined with two computational experiments in the autonomous mobile robots trajectory generation context in unknown environments. The immune response is met based on the immune network metaphor for different low-level behaviours coordination. These behaviours are activated when a robot sense the appropriate conditions in the environment in relation to the network current state. Results are obtained over a case study in computer simulation as well as in laboratory experiments with a Khepera II microrobot. In this work, we develop a set of tests where such an immune response is externally perturbed at network or low-level behavioural modules to analyse the robust capacity of the system to unexpected perturbations. Emergence of robust behaviour and high-level immune response relates to the coupling between behavioural modules that are selectively engaged with the environment based on immune response. Experimental evidence leads discussions on a dynamical systems perspective of behavioural robustness in artificial immune systems that goes beyond the isolated immune network response.     

Shared Investment Projects and Forecasting Errors: Setting Framework Conditions for Coordination and Sequencing Data Quality Activities

In this paper, we investigate the impact of inaccurate forecasting on the coordination of distributed investment decisions. In particular, by setting up a computational multi-agent model of a stylized firm, we investigate the case of investment opportunities that are mutually carried out by organizational departments. The forecasts of concern pertain to the initial amount of money necessary to launch and operate an investment opportunity, to the expected intertemporal distribution of cash flows, and the departments’ efficiency in operating the investment opportunity at hand. We propose a budget allocation mechanism for coordinating such distributed decisions The paper provides guidance on how to set framework conditions, in terms of the number of investment opportunities considered in one round of funding and the number of departments operating one investment opportunity, so that the coordination mechanism is highly robust to forecasting errors. Furthermore, we show that—in some setups—a certain extent of misforecasting is desirable from the firm’s point of view as it supports the achievement of the corporate objective of value maximization. We then address the question of how to improve forecasting quality in the best possible way, and provide policy advice on how to sequence activities for improving forecasting quality so that the robustness of the coordination mechanism to errors increases in the best possible way. At the same time, we show that wrong decisions regarding the sequencing can lead to a decrease in robustness. Finally, we conduct a comprehensive sensitivity analysis and prove that—in particular for relatively good forecasters—most of our results are robust to changes in setting the parameters of our multi-agent simulation model.     

Robustness as a non‐localizable relational phenomenon

A current challenge in neuroscience, systems and theoretical biology is to understand what properties allow organisms to exhibit and sustain behaviours despite perturbations (behavioural robustness). Indeed, there are still significant theoretical difficulties in this endeavour due to the context‐dependent nature of the problem. Contrary to the common view of biological robustness as a phenomenon that emerges internally, this article discusses the hypothesis that behavioural robustness is rooted in dynamical processes that distribute between internal controls, the organism body and the environment. This review highlights the varied perspectives and how they have led to the current focus on robustness as a relational phenomenon. A new perspective is proposed in which robustness is better understood in the context of agent‐environment dynamical couplings, in which such couplings are not always the full determinants of robustness. The challenges and limitations of the proposed approach are identified.     

A review of the biology and ecology of the Robber Crab, Birgus latro (Linnaeus, 1767) (Anomura: Coenobitidae)

Birgus latro (L.) is the largest terrestrial hermit crab in the world. The species is widely distributed on remote Indo-Pacific islands of the tropics, but it is rapidly declining and is currently classified as data deficient on the IUCN red list. This review provides a synopsis of both published and unpublished data on the biology and ecology of B. latro. It highlights the lack of robust biological information on the species’ basic biology, particularly in the juvenile and reproductive phases, while behavioural ecology studies are few and report conflicting data between populations. Population studies indicate that B. latro may have limited recruitment events throughout its range, emphasising the need for more systematic research to clearly identify factors that influence successful recruitment events. The review highlights the paucity of substantiated peer reviewed studies on this species and emphasises the need for further systematic research.     

Path formation in a robot swarm

We present two swarm intelligence control mechanisms used for distributed robot path formation. In the first, the robots form linear chains. We study three variants of robot chains, which vary in the degree of motion allowed to the chain structure. The second mechanism is called vectorfield. In this case, the robots form a pattern that globally indicates the direction towards a goal or home location. We test each controller on a task that consists in forming a path between two objects which an individual robot cannot perceive simultaneously. Our simulation experiments show promising results. All the controllers are able to form paths in complex obstacle environments and exhibit very good scalability, robustness, and fault tolerance characteristics. Additionally, we observe that chains perform better for small robot group sizes, while vectorfield performs better for large groups.     

The flux-summation theorem and the 'evolution of dominance'

The flux-summation theorem (FST) is a central principle of metabolic control analysis. It describes how the control of flux through any metabolic pathway of arbitrary complexity is distributed among the component reaction steps. Two issues concerning the FST are discussed in this paper. First, it has been suggested that the theorem could, in principle, be inapplicable under certain conditions, i.e. the sum of the control coefficients of all the enzymes supporting a pathway could exceed unity. Such conditions have not been found in any species so far studied, so in practice the FST is always applicable. I argue that applicability of the FST is a precondition for phenotypic robustness and therefore for survival. Second, the FST provides a basis for explaining dominance that renders Fisher's ‘modifier genes’ hypothesis otiose. Some recent misunderstandings of metabolic control analysis have led to the claim that this explanation is flawed and therefore that Fisher's hypothesis can and should be reinstated. Here, these suggestions are refuted.     

Evolving cognitive-behavioural dependencies in situated agents for behavioural robustness

This article investigates the emergence of robust behaviour in agents with dynamically limited controllers (monostable agents), and compares their performance to less limited ones (bistable agents). 'Dynamically limited' here refers to a reduced quantity of steady states that an agent controller exhibits when it does not receive stimulus from the environment. Agents are evolved for categorical perception, a minimal cognitive task, and must correlate approaching or avoiding movements based on (two) different types of objects. Results indicate a significant tendency to better behavioural robustness by monostable in contrast to bistable agents in the presence of sensorimotor, mutational, and structural perturbations. Discussions here focus on a further dependence to coupled dynamics by the former agents to explain such a tendency.     

Causal Regularities in the Biological World of Contingent Distributions

Former discussions of biological generalizations have focused on the question of whether there are universal laws of biology. These discussions typically analyzed generalizations out of their investigative and explanatory contexts and concluded that whatever biological generalizations are, they are not universal laws. The aim of this paper is to explain what biological generalizations are by shifting attention towards the contexts in which they are drawn. I argue that within the context of any particular biological explanation or investigation, biologists employ two types of generations. One type identifies causal regularities exhibited by particular kinds of biological entities. The other type identifies how these entities are distributed in the biological world.     

Miniaturized orb-weaving spiders: behavioural precision is not limited by small size

The special problems confronted by very small animals in nervous system design that may impose limitations on their behaviour and evolution are reviewed. Previous attempts to test for such behavioural limitations have suffered from lack of detail in behavioural observations of tiny species and unsatisfactory measurements of their behavioural capacities. This study presents partial solutions to both problems. The orb-web construction behaviour of spiders provided data on the comparative behavioural capabilities of tiny animals in heretofore unparalleled detail; species ranged about five orders of magnitude in weight, from approximately 50-100mg down to some of the smallest spiders known (less than 0.005mg), whose small size is a derived trait. Previous attempts to quantify the 'complexity' of behaviour were abandoned in favour of using comparisons of behavioural imprecision in performing the same task. The prediction of the size limitation hypothesis that very small spiders would have a reduced ability to repeat one particular behaviour pattern precisely was not confirmed. The anatomical and physiological mechanisms by which these tiny animals achieve this precision and the possibility that they are more limited in the performance of higher-order behaviour patterns await further investigation.     

Robustness and aging—A systems-level perspective

The theory of robustness describes a system level property of evolutionary systems, which predicts tradeoffs of great interest for the systems biology of aging, such as accumulation of non-heritable damage, occurrence of fragilities and limitations in performance, optimized allocation of restricted resources and confined redundancies. According to the robustness paradigm cells and organisms evolved into a state of highly optimized tolerance (HOT), which provides robustness to common perturbations, but causes tradeoffs generally characterized as “robust yet fragile”. This raises the question whether the ultimate cause of aging is more than a lack of adaptation, but an inherent fragility of complex evolutionary systems. Since robustness connects to evolutionary designs, consideration of this theory provides a deeper connection between evolutionary aspects of aging, mathematical models and experimental data. In this review several mechanisms influential for aging are re-evaluated in support of robustness tradeoffs. This includes asymmetric cell division improving performance and specialization with limited capacities to prevent and repair age-related damage, as well as feedback control mechanisms optimized to respond to acute stressors, but unable to halt nor revert aging. Improvement in robustness by increasing efficiencies through cellular redundancies in larger organisms alleviates some of the damaging effects of cellular specialization, which can be expressed in allometric relationships. The introduction of the robustness paradigm offers unique insights for aging research and provides novel opportunities for systems biology endeavors.     

Involving the motor system in decision making

The control of behaviour is usually understood in terms of three distinct components: sensory processing, decision making and movement control. Recently, this view has been questioned on the basis of physiological and behavioural data, blurring the distinction between these three stages. This raises the question to what extent the motor system itself can contribute to the interpretation of behavioural situations. To investigate this question we use a neural model of sensory motor integration applied to a behaving mobile robot performing a navigation task. We show that the population response of the motor system provides a substrate for the categorization of behavioural situations. This categorization allows for the assessment of the complexity of a behavioural situation and regulates whether higher-level decision making is required to resolve behavioural conflicts. Our model lends credence to an emerging reconceptualization of behavioural control where the motor system can be considered as part of a high-level perceptual system.     

Robustness of statistical tests for multiplicative terms in the additive main effects and multiplicative interaction model for cultivar trials

The additive main effects multiplicative interaction model is frequently used in the analysis of multilocation trials. In the analysis of such data it is of interest to decide how many of the multiplicative interaction terms are significant. Several tests for this task are available, all of which assume that errors are normally distributed with a common variance. This paper investigates the robustness of several tests (Gollob, F _GH1, F_GH2, F_R)to departures from these assumptions. It is concluded that, because of its better robustness, the F _Rtest is preferable. If the other tests are to be used, preliminary tests for the validity of assumptions should be performed.     

Communication between domestic dogs (Canis familiaris) and humans: Dogs are good learners

Communication involves a wide range of behaviours that animals emit in their daily lives and can take place between different species, as is the case of domestic dogs (Canis familiaris) and humans. Dogs have shown to be successful at following human cues to solve the object choice task. The question is what are the mechanisms involved in these communicative abilities. This article presents a review of studies about the communicative capacities of domestic dogs emphasizing the ones that considered the effect of associative learning upon these skills. In addition, evidence about differences in dogs’ performance in following physical or social cues is summarized and two studies where both signals compete are presented here. The obtained results suggest that the training of a colour cue reverses the dogs’ preference for the social one. These results are discussed in light of the findings that gave importance to the learning effect, concluding that the dogs fundamentally follow those cues that allowed them to obtain reinforcers in their previous learning history.     

A conceptual and practical guide to the behavioural evaluation of animal models of the symptomatology and therapy of schizophrenia

Schizophrenia is a chronic debilitating brain disorder characterized by a complex set of perceptual and behavioural symptoms that severely disrupt and undermine the patient’s psychological well-being and quality of life. Since the exact disease mechanisms remain essentially unknown, holistic animal models are indispensable tools for any serious investigation into the neurobiology of schizophrenia, including the search for remedies, prevention of the disease and possible biological markers. This review provides some practical advice to those confronted with the task of evaluating their animal models for relevance to schizophrenia, a task that inevitably involves behavioural tests with animals. To a novice, this challenge not only is a technical one but also entails attention to interpretative issues concerning validity and translational power. Here, we attempt to offer some guidance to help overcome these obstacles by drawing on our experience of diverse animal models of schizophrenia based on genetics, strain difference, brain lesions, pharmacological induction and early life developmental manipulations. The review pays equal emphasis to the general (theoretical) considerations of experimental design and the illustration of the problems related to critical test parameters and the data analysis of selected exemplar behavioural tests. Finally, the individual differences of behavioural expression in relevant tests observed in wild-type animals might offer an alternative approach in order to explore the mechanism of schizophrenia-related behavioural dysfunction at the molecular, cellular and structural levels, all of which are of more immediate relevance to cell and tissue research.     

Simultaneous and successive colour discrimination in the honeybee (Apis mellifera)

The colour discrimination of individual free-flying honeybees (Apis mellifera) was tested with simultaneous and successive viewing conditions for a variety of broadband reflectance stimuli. For simultaneous viewing bees used form vision to discriminate patterned target stimuli from homogeneous coloured distractor stimuli, and for successive discrimination bees were required to discriminate between homogeneously coloured stimuli. Bees were significantly better at a simultaneous discrimination task, and we suggest this is explained by the inefficiency with which the bees brain can code and retrieve colour information from memory when viewing stimuli successively. Using simultaneous viewing conditions bees discriminated between the test stimuli at a level equivalent to 1 just-noticeable-difference for human colour vision. Discrimination of colours by bees with simultaneous viewing conditions exceeded previous estimates of what is possible considering models of photoreceptor noise measured in bees, which suggests spatial and/or temporal summation of colour signals for fine discrimination tasks. The results show that when behavioural experiments are used to collect data about the mechanisms facilitating colour discrimination in animals, it is important to consider the effects of the stimulus viewing conditions on results.     

Cooperative object transport with a swarm of e-puck robots: robustness and scalability of evolved collective strategies

Cooperative object transport in distributed multi-robot systems requires the coordination and synchronisation of pushing/pulling forces by a group of autonomous robots in order to transport items that cannot be transported by a single agent. The results of this study show that fairly robust and scalable collective transport strategies can be generated by robots equipped with a relatively simple sensory apparatus (i.e. no force sensors and no devices for direct communication). In the experiments described in this paper, homogeneous groups of physical e-puck robots are required to coordinate and synchronise their actions in order to transport a heavy rectangular cuboid object as far as possible from its starting position to an arbitrary direction. The robots are controlled by dynamic neural networks synthesised using evolutionary computation techniques. The best evolved controller demonstrates an effective group transport strategy that is robust to variability in the physical characteristics of the object (i.e. object mass and size of the longest object’s side) and scalable to different group sizes. To run these experiments, we designed, built, and mounted on the robots a new sensor that returns the agents’ displacement on a 2D plane. The study shows that the feedback generated by the robots’ sensors relative to the object’s movement is sufficient to allow the robots to coordinate their efforts and to sustain the transports for an extended period of time. By extensively analysing successful behavioural strategies, we illustrate the nature of the operational mechanisms underpinning the coordination and synchronisation of actions during group transport.     

The shaping of the behavioral act: the problem of intrasystemic heterochrony

According to P.K. Anokhin's conception, the functional system of every behavioural act includes one and the same sequence of basic mechanisms, the main of them are afferent synthesis and making decision, realization of action, achievement of the result and evaluation of its parameters. The present work deals with the question about the extent of coordination in the development of these systemic mechanisms in the process of new behavioural act formation.