论文标题

授权的神经细胞自动机

Empowered Neural Cellular Automata

论文作者

Grasso, Caitlin, Bongard, Josh

论文摘要

信息理论适应性功能变得越来越流行,可以产生通常有用的,与任务无关的行为。一种称为授权的通用功能,可以通过其感觉运动系统在其环境上施加的控制量。具体而言,授权试图在以后的时间点最大化代理商的动作与其接收的传感器状态之间的相互信息。传统上,赋权已应用于常规的感觉运动设备,例如机器人。在这里,我们将方法扩展到由神经细胞自动机(NCA)体现的分布式多机敏性感觉运动系统。我们表明,与单独形态发生相比,增加了授权作为NCA进化的次要目标,以执行形态发生,增长和维持预先指定的形状,从而提高适应性。结果表明,形态发生与赋权之间可能存在协同关系。也就是说,在发展持续时间内,间接选择相邻细胞之间的协调对发展过程本身有益。这样的发现可能通过提供从单个细胞到多细胞靶向形态的生长过程中细胞之间的潜在通信机制在发育生物学中的应用。本文中实验的源代码可以在以下网址找到:\ url {https://github.com/caitlingrasso/empowered-nca}。

Information-theoretic fitness functions are becoming increasingly popular to produce generally useful, task-independent behaviors. One such universal function, dubbed empowerment, measures the amount of control an agent exerts on its environment via its sensorimotor system. Specifically, empowerment attempts to maximize the mutual information between an agent's actions and its received sensor states at a later point in time. Traditionally, empowerment has been applied to a conventional sensorimotor apparatus, such as a robot. Here, we expand the approach to a distributed, multi-agent sensorimotor system embodied by a neural cellular automaton (NCA). We show that the addition of empowerment as a secondary objective in the evolution of NCA to perform the task of morphogenesis, growing and maintaining a pre-specified shape, results in higher fitness compared to evolving for morphogenesis alone. Results suggest there may be a synergistic relationship between morphogenesis and empowerment. That is, indirectly selecting for coordination between neighboring cells over the duration of development is beneficial to the developmental process itself. Such a finding may have applications in developmental biology by providing potential mechanisms of communication between cells during growth from a single cell to a multicellular, target morphology. Source code for the experiments in this paper can be found at: \url{https://github.com/caitlingrasso/empowered-nca}.

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