Nolfi / Mirolli Evolution of Communication and Language in Embodied Agents

1. Auflage 2009
ISBN: 978-3-642-01250-1
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 313 Seiten

This field of research examines how embodied and situated agents, such as robots, evolve language and thus communicate with each other. This book is a comprehensive survey of the research in this emerging field. The contributions explain the theoretical and methodological foundations of the field, and then illustrate the scientific and technological potentials and promising research directions. The book also provides descriptions of research experiments and related open software and hardware tools, allowing the reader to gain a practical knowledge of the topic. The book will be of interest to scientists and undergraduate and graduate students in the areas of cognition, artificial life, artificial intelligence and linguistics.

Autoren/Hrsg.

Nolfi, Stefano

Mirolli, Marco

Inhaltsverzeichnis

1;Contents;5
2;1 A Synthetic Approach to the Study of the Evolution of Communication and Language;12
2.1;Introduction;12
2.2;Scope and Objectives of the Book;14
2.3;Overview;14
2.3.1;Theoretical Aspects of Communication and Language;15
2.3.1.1;Artificial Organisms with Human Language;15
2.3.1.2;Evolution of Language as One of the Major Evolutionary Transitions;15
2.3.1.3;Strategic Aspects of Communication;15
2.3.1.4;Theoretical Tools in Modeling Communication and Language Dynamics;16
2.3.1.5;Emergence of Scale-Free Syntax Networks;16
2.3.2;Evolution of Communication;16
2.3.2.1;Evolving Communication in Embodied Agents: Theory, Methods, and Evaluation;16
2.3.2.2;Evolutionary Conditions for the Emergence of Communication;16
2.3.2.3;The Phylogenetic and the Adaptive Problems of Communication: Insights from Modeling;17
2.3.2.4;Evolution of Signaling in a Multi-Robot System: Categorization and Communication;17
2.3.2.5;Evolution and Complexification of Implicit and Explicit Communication in Groups of Mobile Robots;17
2.3.2.6;Evolving Communication in Embodied Agents: Progresses and Open Challenges;17
2.3.3;Evolution of Language;18
2.3.3.1;Modeling The Formation of Language in Embodied Agents: Methods and Open Challenges;18
2.3.3.2;Modeling The Formation of Language: Embodied Experiments;18
2.3.3.3;Mathematical Modeling of Language Games;18
2.3.3.4;Modeling the Formation of Language in Embodied Agents: Conclusions and Future Research;18
2.3.4;Conclusion;19
2.3.4.1;Embodied and Communicating Agents: Towards the Establishment of a Solid Theoretical and Methodological Framework;19
2.3.5;Appendix: Software and Hardware Tools;19
2.4;Major Objectives;19
2.5;Acknowledgements;19
2.6;References;20
3;Part I Theoretical Aspects of Communication and Language;21
3.1;2 Artificial Organisms with Human Language;22
3.1.1;Understanding the Behavior of Real Organisms by Constructing Artificial Organisms;22
3.1.2;Artificial Organisms with Human Language;24
3.1.3;Nine Properties of Human Language;25
3.1.3.1;Linguistic Signals are Arbitrarily Linked to Their Meanings;25
3.1.3.2;Language is Compositional;27
3.1.3.3;Language is Culturally Transmitted and Evolved;29
3.1.3.4;Language is Used to Talk to Oneself and Not Only to Others;30
3.1.3.5;Language is Used for Communicating About the External Environment;32
3.1.3.6;Language Uses Displaced Signals;33
3.1.3.7;Language is Intentional and Requires Recognizing the Intentions of Others;34
3.1.3.8;Language is the Product of a Complex Nervous System;36
3.1.3.9;Language Influences Human Cognition;38
3.1.4;Between Them or with Us?;40
3.1.5;References;43
3.2;3 Evolution of Language as One of the Major Evolutionary Transitions;45
3.2.1;Introduction;45
3.2.2;Notes on the Neurobiology of Language;48
3.2.3;Towards a Genetic Approach to Language;49
3.2.4;The Status of Recursion in Animals and Human;49
3.2.5;Genetic Assimilation in Language Evolution;51
3.2.6;Prerequisites for Language and the Concept of a Human-Specific Adaptive Suite;51
3.2.7;Selective Scenarios for the Origin of Language;53
3.2.8;What Made Language Origins Difficult?;54
3.2.9;A Possible Modeling Approach;56
3.2.10;Evolutionary Neurogenetic Algorithm (ENGA);57
3.2.11;The Origin of a Language as a Proper Major Evolutionary Transition;57
3.2.12;References;58
3.3;4 Strategic Aspects of Communication;62
3.3.1;Defining the Strategy Concept;62
3.3.2;Strategy Generation;63
3.3.3;A Strategic Approach to Communication;64
3.3.4;Costly Signaling;64
3.3.5;Cooperative Signaling, Antagonistic Co-evolution, and Subversion;67
3.3.5.1;Animal-Animal Antagonistic Co-evolution;67
3.3.5.2;Plant-Animal Antagonistic Co-evolution;68
3.3.5.3;Human-Human Interactions;68
3.3.5.4;Artificial Agents' Co-evolution;69
3.3.6;Signaling Between "Super-organisms";69
3.3.7;Summary;70
3.3.8;References;70
3.4;5 Theoretical Tools in Modeling Communication and Language Dynamics;73
3.4.1;Introduction;73
3.4.2;Concepts and Tools;75
3.4.2.1;Order and Disorder: The Ising Paradigm;76
3.4.2.2;Role of Topology;79
3.4.2.3;Dynamical Systems Approach;81
3.4.2.4;Agent-Based Modeling;82
3.4.3;Conclusions;84
3.4.4;References;85
3.5;6 Emergence of Scale-Free Syntax Networks;88
3.5.1;Introduction;88
3.5.2;Building Syntactic Networks;90
3.5.3;Evolving Syntax Networks;92
3.5.3.1;Global Organization;93
3.5.3.2;Small World Development;93
3.5.3.3;Scale-Free Topology;96
3.5.4;Modeling Syntactic Network Evolution;96
3.5.4.1;Simple SO Graph Growth Models;97
3.5.4.2;Network Growth Model and Analysis;97
3.5.5;Discussion;102
3.5.6;References;104
4;Part II Evolution of Communication;107
4.1;7 Evolving Communication in Embodied Agents: Theory, Methods, and Evaluation;108
4.1.1;Introduction;108
4.1.2;Theory;109
4.1.2.1;The General Framework: Embodied Cognition;109
4.1.2.1.1;Situatedness;109
4.1.2.1.2;Embodiment;109
4.1.2.1.3;Adaptivity;110
4.1.2.2;Communication as a Complex Adaptive System;111
4.1.3;Method;112
4.1.3.1;Adaptive Methods for Designing Self-organizing Communication Systems;112
4.1.3.1.1;Evolutionary Algorithms;113
4.1.3.1.2;Simulated Annealing;114
4.1.3.1.3;Reinforcement Learning;115
4.1.3.2;Research Methodology;116
4.1.4;Evaluation Criteria;117
4.1.4.1;Adaptive Role;117
4.1.4.2;Expressive Power and Organizational Complexity;118
4.1.4.2.1;Number of Signals;118
4.1.4.2.2;Type of Signals;118
4.1.4.2.3;Protocol Regulating Signaling Behaviors;119
4.1.4.2.4;Signal Structure;120
4.1.4.3;Stability, Robustness, and Evolvability;120
4.1.4.4;Knowledge Gain (Modeling);121
4.1.5;Summary and Conclusion;121
4.1.6;References;122
4.2;8 Evolutionary Conditions for the Emergence of Communication;125
4.2.1;Introduction;125
4.2.2;Experimental Setup;128
4.2.2.1;The Task;128
4.2.2.2;Neural Controller;128
4.2.2.3;Artificial Evolution;130
4.2.2.4;Quantifying Behavior;130
4.2.3;Honest Communication;131
4.2.4;Deceptive Communication;134
4.2.5;Conclusion;135
4.2.6;References;136
4.3;9 Producer Biases and Kin Selection in the Evolution of Communication;137
4.3.1;Introduction;137
4.3.2;Two Problems in the Evolution of Communication ;139
4.3.2.1;The Biological Literature and the Manipulation Bias;139
4.3.2.2;The Phylogenetic Problem;140
4.3.2.3;The Adaptive Problem;141
4.3.2.4;Disentangling the Two Problems;142
4.3.3;Experimental Set-Up ;143
4.3.3.1;The Environment and the Task;143
4.3.3.2;The Neural Network;144
4.3.3.3;Individual Life and the Fitness Formula;144
4.3.3.4;The Genetic Algorithm;145
4.3.3.5;Measuring Communication System Quality;146
4.3.4;Cognitive, Genetic, and Adaptive Factors in the Evolution of Communication ;146
4.3.5;The Kin-Selection Simulation;149
4.3.5.1;Simulation;149
4.3.5.2;Results;149
4.3.6;The No-Cognitive-Pressure and No-Communication Simulations ;150
4.3.6.1;Simulations;150
4.3.6.2;Results;152
4.3.7;Discussion;154
4.3.7.1;The Producer Bias Hypothesis;155
4.3.7.2;Adaptive Factors;158
4.3.8;References;159
4.4;10 Evolution of Signaling in a Multi-Robot System: Categorization and Communication;162
4.4.1;Introduction;163
4.4.2;Methods;163
4.4.2.1;Description of the Task;163
4.4.2.2;The Simulation Model;165
4.4.2.3;The Controller and the Evolutionary Algorithm;166
4.4.2.4;The Fitness Function;167
4.4.3;Results;168
4.4.3.1;A First Series of Post-evaluation Tests;169
4.4.3.2;Sound Signaling and Communication;170
4.4.3.2.1;Behavioral Features and Mechanisms;170
4.4.3.2.2;The Role of Sound;172
4.4.3.3;On the Adaptive Significance of Signaling;173
4.4.3.3.1;Functions of Sound Signaling;174
4.4.3.3.2;The Social Function of Sound Signaling as a Means to Obtain Robustness;174
4.4.4;Conclusions;177
4.4.5;References;179
4.5;11 Evolution of Implicit and Explicit Communication in Mobile Robots;180
4.5.1;Introduction;180
4.5.2;Experimental Setup;181
4.5.2.1;The Environment and the Robots;182
4.5.2.2;The Neural Controller;182
4.5.2.3;The Evolutionary Algorithm;184
4.5.3;Results;186
4.5.3.1;Symmetrical Strategy;188
4.5.3.1.1;Motor and Communication Behaviors Repertoire;188
4.5.3.1.2;Communication System;192
4.5.3.1.3;Evolutionary Origin of Robots' Communicative and Non-communicative Skills;194
4.5.3.2;Asymmetrical Strategy;197
4.5.3.2.1;Motor and Communication Behaviors Repertoire;197
4.5.3.2.2;Communication System;201
4.5.3.2.3;Evolutionary Origin of Robots Communicative and Non-communicative Skills;202
4.5.4;Discussion;205
4.5.5;Appendix;211
4.5.5.1;Sensors and Actuators;211
4.5.5.2;Update Functions of the Neurons;212
4.5.5.3;Simulation;212
4.5.5.4;Criteria Used to Identify the Behavior Exhibited by the Robots Analyzed in Sect. 3.2;213
4.5.6;Supplementary Data;214
4.5.7;References;214
4.6;12 Evolving Communication in Embodied Agents: Assessment and Open Challenges;216
4.6.1;Introduction;216
4.6.2;Adaptive Role;216
4.6.3;Expressive Power and Organization Complexity;217
4.6.4;Stability, Robustness, and Evolvability;218
4.6.5;Knowledge Gain (Modeling);219
4.6.6;Open Questions for Future Research;220
4.6.7;References;220
5;Part III Evolution of Language;222
5.1;13 Modeling The Formation of Language in Embodied Agents: Methods and Open Challenges;223
5.1.1;Introduction;223
5.1.2;Methods;224
5.1.3;Challenges;226
5.1.3.1;Mechanism Design of Language Games;226
5.1.3.2;Concept Formation;228
5.1.3.3;Lexicon Formation;229
5.1.3.4;Grammar Formation;230
5.1.4;References;232
5.2;14 Modeling the Formation of Language: Embodied Experiments;234
5.2.1;Introduction;234
5.2.2;The Grounded Naming Game;235
5.2.2.1;Sensori-motor Aspects;236
5.2.2.2;Conceptual Aspects;238
5.2.2.3;Linguistic Aspects;241
5.2.2.4;Establishing Object Identity;243
5.2.2.5;Experimental Results;244
5.2.3;Spatial Language and Perspective Reversal;246
5.2.3.1;Sensori-motor Aspects;246
5.2.3.2;Conceptual and Linguistic Aspects;248
5.2.3.3;Results;249
5.2.4;The Case Experiment;252
5.2.4.1;Sensori-motor Aspects;253
5.2.4.2;Linguistic Aspects;254
5.2.5;Conclusion;259
5.2.6;References;260
5.3;15 Mathematical Modeling of Language Games;262
5.3.1;Introduction;262
5.3.2;The Naming Game;263
5.3.2.1;The Minimal Naming Game;264
5.3.2.2;Macroscopic Analysis;265
5.3.2.3;Symmetry Breaking: A Controlled Case;267
5.3.2.4;The Role of the Interaction Topology;268
5.3.2.5;Variants of the Naming Game;269
5.3.3;The Category Game;269
5.3.3.1;The Category Game Model;271
5.3.3.1.1;Modeling Categories;271
5.3.3.1.2;Negotiation Dynamics;271
5.3.3.2;Hierarchical Coordination;273
5.3.4;Conclusions;277
5.3.5;References;278
5.4;16 Modeling the Formation of Language in Embodied Agents: Conclusions and Future Research;281
5.4.1;Introduction;281
5.4.2;Embodiment;281
5.4.3;Language Games;282
5.4.4;Concept Formation;282
5.4.5;Lexicon;283
5.4.6;Grammar;284
5.4.7;Mathematical Modeling;284
5.4.8;References;286
6;Part IV Conclusion;287
6.1;17 Embodied and Communicating Agents: Towards the Establishment of a Solid Theoretical and Methodological Framework;288
6.1.1;References;290
7;Part V Appendix: Software and Hardware Tools;292
7.1;Evorobot*;293
7.1.1;Introduction;293
7.1.2;Evorobot* Features;294
7.1.2.1;The Evolutionary Algorithm;294
7.1.2.2;The Neural Network Simulator;294
7.1.2.3;The Robot/Environmental Simulator;295
7.1.2.4;The Graphic Interface;296
7.1.2.5;The Evorobot* Firmware;296
7.1.3;Using Evorobot*;296
7.1.3.1;Setting up an Experiment;296
7.1.3.2;Running an Experiment;297
7.1.3.3;Analyzing Obtained Results;297
7.1.3.4;Extending the Evorobot* Source Code;297
7.1.4;User Manual, Tutorials & Download Instructions;297
7.1.5;References;297
7.2;E-puck;298
7.2.1;Introduction;298
7.2.2;The E-puck Robot;299
7.2.3;Communication Turrets;299
7.2.3.1;LED Light Turret;299
7.2.3.2;Omni-directional Camera Turret;300
7.2.4;Communication Experiments;300
7.2.5;References;301
7.3;Babel;302
7.3.1;Introduction;302
7.3.2;Overview;303
7.3.3;Illustration;305
7.3.4;Outlook;308