Epigenetic adaptation through hormone modulation in autonomous robots

Abstract

Epigenetic adaptation provides biological organisms with the ability to adjust their physiology and/or morphology in order to meet some of the challenges posed by their environment. Recent research has suggested that this process may be controlled by hormones. In this paper, we present a model that allows an autonomous robot to develop its systems in accordance with the environment it is currently situated in. Experiments have been undertaken in multiple environments with different challenges and niches to negotiate. We have so far seen encouraging results and the emergence of unique behaviours tailored to exploiting its current environment. ?? 2013 IEEE

From Sensorimotor Experiences to Cognitive Development: Investigating the Influence of Experiential Diversity on the Development of an Epigenetic Robot

“…While survival-related homeostatic imbalances, as previously mentioned, are often used to model motivation and drive behavior in autonomous robots, these imbalances alone may not be enough to ensure adaptive behavior in dynamic or complex environments (Avila-Garcia and Cañamero, 2005). A suggested, and so far successful, addition to the previous architecture, consists of integrating different hormone or endocrine systems into the model (Avila-Garcia and Cañamero, 2005;Timmis et al, 2010;Lones and Cañamero, 2013). These systems borrow from biological examples, where neuromodulatory systems have been shown to regulate behavior and allow rapid and appropriate responses to environmental events (Krichmar, 2008).…”

“…In this paper, we examine the role that exposure to sensory stimuli may have on the cognitive development of an autonomous robot. Unlike related studies such as (Shaw et al, 2012;Ugur et al, 2015), which explicitly model the developmental process, the model used in our experiments was not designed following a particular sensorimotor developmental theory, but based on a plausible epigenetic 1 mechanism (Lones and Cañamero, 2013;Lones et al, 2014). However, similar to the work of Cangelosi et al (2015) and Ugur et al (2015), our model leads to the emergence of an open-ended learning process achieved by allowing a robot to be able to identify and learn about interesting phenomena, a common goal of developmental models (Marshall et al, 2004).…”

“…The model used for these tests is based on an earlier hormonedriven epigenetic model presented in (Lones and Cañamero, 2013). This previous model showed the ability to both rapidly adapt to a range of different dynamic environmental conditions and react appropriately to unexpected stimuli.…”

“…This extended model uses the same hormonal system as we used previously in (Lones and Cañamero, 2013), this time to modulate the development of the ENN in an "appropriate" manner dependent on the interaction with the external environment. The proposed model not only allowed the robot to learn about different aspects of its environment and engage in planned behavior in an appropriate manner but also gave it the ability to shape its body representation due to its interaction with the external environment.…”

A Hormone-Driven Epigenetic Mechanism for Adaptation in Autonomous Robots

“…The work presented here stems from, but expands very significantly, an earlier conference publication [13]. Here, we provide a much deeper investigation by both adding new experimental conditions, analyzing the adaptive mechanisms of the robot more rigorously, and exploring the effect of experiential diversity on development in much greater detail.…”