Historique: SYMBRION_TF1

Source de la version: 20 (courant)

-= Nov 30 =- ! Tasks 1-2-3 : how can they be integrated together ? ! Wenguo Genome: represent an organism Evert's approach: evolution let's choose. ! Abstract class Shape. C++ * cell.h * have the same name ! Communicate with people developing the controller first. What kind of modules they need. How the shape; Once they have the shape. From two genomes of shape, build the organism. --------------- ! From 1st simulator, use Robot3D. * Robot3D: Yao yes; Wenguo no; Reached final simulation. For us, we have to have sensors; Robot3D; If we have to use a single one; * Wenguo's Stage. -= Nov. 24 =- ! Group 1. !! Genotype to Phenotype mapping one to many; many to one ? Not very important; but useful information. !! Init. and Crossover Wenguo: implemented: code available. simple examples. Yao-yao: involve the shape from scratch. Local topology. The genome is a function, disseminated on every cell and deciding whom to recruit. Describe coding. summary: 1 explicit; 3 implicit representations. ! Group 2. Jurgen. * criteria to compare: agreed in skype meeting. * I, T, H shapes * base class which are evolved. * share one symbol seed file (html); make comparison easy. Florian: integrated the controller. Graz: Online evolved AHHS. We have to simulate in 3D; Can be used also for group 1. ! Group 3: Internal reward. * Evert was sick. will do it. skype meeting: Evert agreed to generate the log files with numeric labels; and then INRIA can return weights. ! Group 4: Libor. Simulation: 3 x slower than real-time, with 10 robots and sensors off. If you increase the number of cells; becomes 10 times slower. Speed of simulation does not depend much on structure: only on number of cells. 1 hour: 10 minutes of real-time. How many evaluations ? Depends how fast an egg finds another cell. Distinguish time in real-world / cycles in simulator Vojta is preparing the manual, with Anne. Something early next week. What about the installation ? Having a place where to find tricks and recipes ? * In e-mails to Libor; * But hard to catch up if you enter the game now * having a wiki ? On Symbrion, pages are outdated. * use "longebran" (here I did not follow). Agreed: put the info somewhere in a centralized place. Agreed: * Team 1 and 2, cooperate. * Every leader prepares a report. A meeting to reach a decision in December ? Jurgen: hard to get the time from teaching. After mid December: 19-23. Guzs: I could attend iff in Amsterdam. What about early January. VU: closed in the week between Christmas and New Year. -= Nov. 17 =- ! Subtask2: Organism control parameters On robot3D: should be running, dec. 15th. Evert: find on light simulator first. Nicolas: until Nov. 30: light simulator, then Robot3D. Jurgen: too many pbs to debug [30 nov; 15 dec]. Florian: But how can we compare if we don't have same simulator. Jurgen: Postpone decision until 15 dec. Yaoyao: need help about simulator Vojta/Libor: need help from Lutz. One day meeting ? Skype call? Write documentation on simulator. Lutz: you can send me questions. Guzs: start soon with small tutorial. Then another one. Skype tutorial on next week; ! Subtask3: Evert [& Michele & Christopher] Adapt an implementation of the QI. I plan to do that before the week-end. Static version of QI. Discussion after the skype. ! Subtask 1: Morphogenesis Wenguo: improved the representation: for next week, create mutation, crossover. send them to Christopher. Yao: done some experiments in its simulator; working with Ronny to integrate his findings. Michele: Before sunday evening, paragraph summarizing progress. ! Subtask 4: Simulator Distribute threads on computers ? Lutz: possible; not done yet. Physics is the bottleneck. Jurgen: two kernels; we don't use the threads. Is there anything we can read so that all kernels are used by default ? Lutz: done in new code. Nicolas: compiled on Ubuntu 11 ? Ask Anne. support 10.10 and 11.04. Florian: I run 11.04. happily. What the first tutorial should say: * how do we get; compile; run in the system; find good parameters. * some examples which do not match. Jean-Marc Montanier: packages... but not 11.10. Anne: packages are compiled every night. Deadline for benchmark: Nov. 15th. Scenario with snakes and simple creatures. Guzs: but we have two more weeks for preliminary work. On Nov. 30th, all go to Robot3D. Libor: ok for next week the benchmark; but the bugs, after. Berend: we need a bug tracking system. Anne. Would it be easier to have all the same version ? 11.04 if possible. Would simplify the debugging. But do we have a machine where to run the compiler now ? Agreed, bugs supported on 11.04 only. ! Next Each leader writes a paragraph on the progress before Sunday night. ! How to synchronize the expe in each subtask : so that people do comparable experiments: private skype. On subtask 3 (internal reward): private skype right w ! General question Simulator: a paper of it ? Might be. How to debug it, yes; or the simulator. Already a paper, Symbricator 3D. The software might be a legacy to the community. Unique properties. -= Nov. 10 =- ! Group Morphogenesis !! Task Decide for a representation of shapes !! Partners # Wenguo (Bristol) ## Explicit representation, grammar-like ## Tested in simulation: organism construction completed ## Issue: evolvability # Ronny (Graz) ## Virtual embryogeny, AHHS ## Each module of the organism exchanges signals (hormone levels ?) and surface module can recruit additional free cells ## Tested in simulation () and on robots (how many) ## Issue: size of the representation # Michele (Paris) ## Virtual embryogeny, cellular automaton ## Each module of the organism emits signals and surface modules can recruit additional free cells ## Tested in simulation () [PhD Alexandre Devert] ## Issue: convergence toward controllable-size organisms # Christopher (Tubingen) ## Helps Wenguo to devise structured variation operators (mutation, crossover) # Yao-yao (Gent) ## Suggestions to Ronny. !! Criteria of evolvability !!! A viable shape is an organism which includes 4-10 modules and does not recruit anyone else. tbcompleted. !!! Random initialization Using random descriptions in the representation space * Number of trials needed to yield XX viable and diverse shapes * Time needed !!! Controllability Feasibility of describing a prescribed shape in the representation space !!! Efficiency of operators Using (crossover, mutation) on viable parent shapes, * percentage of trials needed to yield XX viable offspring * Time needed Ratio: Time to reach a viable shape from scratch / Time to reach a viable shape from two viable parent shapes. !! Experimental setting !!! Overview # Initialization (from fixed shapes or from random) # Loop: ## Variation operators ## Fitness = number of new viable shapes offspring # End loop ! Later * Fitness will be enriched with other criteria (walking).