Table Of Content

Evolution of Communication and Language in Embodied Agents Stefano Nolfi (cid:2) Marco Mirolli Editors Evolution of Communication and Language in Embodied Agents Editors Prof.StefanoNolfi Dr.MarcoMirolli LaboratoryofAutonomousRobotics LaboratoryofAutonomousRobotics andArtificialLife(LARAL) andArtificialLife(LARAL) InstituteofCognitiveSciences InstituteofCognitiveSciences andTechnologies andTechnologies ItalianNationalResearchCouncil(CNR) ItalianNationalResearchCouncil(CNR) Rome,Italy Rome,Italy stefano.nolfi@istc.cnr.it [email protected] ISBN978-3-642-01249-5 e-ISBN978-3-642-01250-1 DOI10.1007/978-3-642-01250-1 SpringerHeidelbergDordrechtLondonNewYork LibraryofCongressControlNumber:2009942033 ACMComputingClassification(1998):I.2.9,I.2.0,I.2.7,I.2.11 ©Springer-VerlagBerlinHeidelberg2010 Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialis concerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting, reproductiononmicrofilmorinanyotherway,andstorageindatabanks.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9, 1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Violations areliabletoprosecutionundertheGermanCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnot imply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotective lawsandregulationsandthereforefreeforgeneraluse. Coverdesign:KuenkelLopkaGmbH TheimageusedinthefrontcoverdesignisreproducedwithpermissionoftheLaboratoryofIntelligent Systems,EPFL,Switzerland;andtheimageusedinthebackcoverisapicturefromlanguagegame experimentswithnon-commercialSonyhumanoidrobotscarriedoutbyLucSteels,MartinLoetzsch andMichaelSprangerattheSonyComputerScienceLaboratory. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Contents 1 A Synthetic Approach to the Study of the Evolution ofCommunicationandLanguage . . . . . . . . . . . . . . . . . . . . 1 StefanoNolfiandMarcoMirolli 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 ScopeandObjectivesoftheBook . . . . . . . . . . . . . . . . . . 3 3 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 3.1 TheoreticalAspectsofCommunicationandLanguage . . . 4 3.2 EvolutionofCommunication . . . . . . . . . . . . . . . . 5 3.3 EvolutionofLanguage . . . . . . . . . . . . . . . . . . . 7 3.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.5 Appendix:SoftwareandHardwareTools . . . . . . . . . . 8 4 MajorObjectives . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 5 Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . 8 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 PartI TheoreticalAspectsofCommunicationandLanguage 2 ArtificialOrganismswithHumanLanguage . . . . . . . . . . . . . . 13 DomenicoParisi 1 UnderstandingtheBehaviorofRealOrganismsbyConstructing ArtificialOrganisms . . . . . . . . . . . . . . . . . . . . . . . . . 13 2 ArtificialOrganismswithHumanLanguage . . . . . . . . . . . . 15 3 NinePropertiesofHumanLanguage . . . . . . . . . . . . . . . . 16 3.1 LinguisticSignalsareArbitrarilyLinkedtoTheirMeanings 16 3.2 LanguageisCompositional . . . . . . . . . . . . . . . . . 18 3.3 LanguageisCulturallyTransmittedandEvolved . . . . . . 20 3.4 LanguageisUsedtoTalktoOneselfandNotOnlytoOthers 21 3.5 LanguageisUsedforCommunicatingAbouttheExternal Environment . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.6 LanguageUsesDisplacedSignals . . . . . . . . . . . . . . 24 3.7 LanguageisIntentionalandRequiresRecognizingthe IntentionsofOthers . . . . . . . . . . . . . . . . . . . . . 25 v vi Contents 3.8 LanguageistheProductofaComplexNervousSystem . . 27 3.9 LanguageInfluencesHumanCognition . . . . . . . . . . . 29 4 BetweenThemorwithUs? . . . . . . . . . . . . . . . . . . . . . 31 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3 EvolutionofLanguageasOneoftheMajorEvolutionary Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 EörsSzathmáry 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 2 NotesontheNeurobiologyofLanguage . . . . . . . . . . . . . . 40 3 TowardsaGeneticApproachtoLanguage . . . . . . . . . . . . . 41 4 TheStatusofRecursioninAnimalsandHuman . . . . . . . . . . 41 5 GeneticAssimilationinLanguageEvolution . . . . . . . . . . . . 43 6 PrerequisitesforLanguageandtheConceptofaHuman-Specific AdaptiveSuite . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7 SelectiveScenariosfortheOriginofLanguage . . . . . . . . . . . 45 8 WhatMadeLanguageOriginsDifficult? . . . . . . . . . . . . . . 46 9 APossibleModelingApproach . . . . . . . . . . . . . . . . . . . 48 10 EvolutionaryNeurogeneticAlgorithm(ENGA). . . . . . . . . . . 49 11 TheOriginofaLanguageasaProperMajorEvolutionaryTransition 49 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4 StrategicAspectsofCommunication . . . . . . . . . . . . . . . . . . 55 EdwardHagen,PeterHammerstein,andNicoleHess 1 DefiningtheStrategyConcept . . . . . . . . . . . . . . . . . . . . 55 2 StrategyGeneration . . . . . . . . . . . . . . . . . . . . . . . . . 56 3 AStrategicApproachtoCommunication . . . . . . . . . . . . . . 57 4 CostlySignaling . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 5 CooperativeSignaling,AntagonisticCo-evolution,andSubversion 60 6 SignalingBetween“Super-organisms” . . . . . . . . . . . . . . . 62 7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5 Theoretical Tools in Modeling Communication and Language Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 VittorioLoreto 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 2 ConceptsandTools . . . . . . . . . . . . . . . . . . . . . . . . . 69 2.1 OrderandDisorder:TheIsingParadigm . . . . . . . . . . 70 2.2 RoleofTopology . . . . . . . . . . . . . . . . . . . . . . 73 2.3 DynamicalSystemsApproach. . . . . . . . . . . . . . . . 75 2.4 Agent-BasedModeling . . . . . . . . . . . . . . . . . . . 76 3 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Contents vii 6 EmergenceofScale-FreeSyntaxNetworks . . . . . . . . . . . . . . . 83 BernatCorominas-Murtra,SergiValverde,andRicardV.Solé 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 2 BuildingSyntacticNetworks . . . . . . . . . . . . . . . . . . . . 85 3 EvolvingSyntaxNetworks . . . . . . . . . . . . . . . . . . . . . 87 3.1 GlobalOrganization . . . . . . . . . . . . . . . . . . . . . 88 3.2 SmallWorldDevelopment. . . . . . . . . . . . . . . . . . 88 3.3 Scale-FreeTopology . . . . . . . . . . . . . . . . . . . . . 91 4 ModelingSyntacticNetworkEvolution . . . . . . . . . . . . . . . 91 4.1 SimpleSOGraphGrowthModels . . . . . . . . . . . . . . 92 4.2 NetworkGrowthModelandAnalysis . . . . . . . . . . . . 92 5 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 PartII EvolutionofCommunication 7 EvolvingCommunicationinEmbodiedAgents:Theory,Methods, andEvaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 MarcoMirolliandStefanoNolfi 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 2 Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 2.1 TheGeneralFramework:EmbodiedCognition . . . . . . . 106 2.2 CommunicationasaComplexAdaptiveSystem . . . . . . 108 3 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 3.1 Adaptive Methods for Designing Self-organizing CommunicationSystems . . . . . . . . . . . . . . . . . . 109 3.2 ResearchMethodology . . . . . . . . . . . . . . . . . . . 113 4 EvaluationCriteria . . . . . . . . . . . . . . . . . . . . . . . . . . 114 4.1 AdaptiveRole . . . . . . . . . . . . . . . . . . . . . . . . 114 4.2 ExpressivePowerandOrganizationalComplexity . . . . . 115 4.3 Stability,Robustness,andEvolvability . . . . . . . . . . . 117 4.4 KnowledgeGain(Modeling) . . . . . . . . . . . . . . . . 118 5 SummaryandConclusion . . . . . . . . . . . . . . . . . . . . . . 118 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 8 EvolutionaryConditionsfortheEmergenceofCommunication . . . 123 SaraMitri,DarioFloreano,andLaurentKeller 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 2 ExperimentalSetup . . . . . . . . . . . . . . . . . . . . . . . . . 126 2.1 TheTask . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 2.2 NeuralController . . . . . . . . . . . . . . . . . . . . . . 126 2.3 ArtificialEvolution . . . . . . . . . . . . . . . . . . . . . 128 2.4 QuantifyingBehavior . . . . . . . . . . . . . . . . . . . . 128 3 HonestCommunication . . . . . . . . . . . . . . . . . . . . . . . 129 4 DeceptiveCommunication. . . . . . . . . . . . . . . . . . . . . . 132 5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 viii Contents 9 ProducerBiasesandKinSelectionintheEvolution ofCommunication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 MarcoMirolliandDomenicoParisi 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 2 TwoProblemsintheEvolutionofCommunication . . . . . . . . . 137 2.1 TheBiologicalLiteratureandtheManipulationBias . . . . 137 2.2 ThePhylogeneticProblem. . . . . . . . . . . . . . . . . . 138 2.3 TheAdaptiveProblem . . . . . . . . . . . . . . . . . . . . 139 2.4 DisentanglingtheTwoProblems . . . . . . . . . . . . . . 140 3 ExperimentalSet-Up . . . . . . . . . . . . . . . . . . . . . . . . 141 3.1 TheEnvironmentandtheTask . . . . . . . . . . . . . . . 141 3.2 TheNeuralNetwork . . . . . . . . . . . . . . . . . . . . . 142 3.3 IndividualLifeandtheFitnessFormula . . . . . . . . . . . 142 3.4 TheGeneticAlgorithm . . . . . . . . . . . . . . . . . . . 143 3.5 MeasuringCommunicationSystemQuality. . . . . . . . . 144 4 Cognitive,Genetic,andAdaptiveFactorsintheEvolutionof Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 5 TheKin-SelectionSimulation . . . . . . . . . . . . . . . . . . . . 147 5.1 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . 147 5.2 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 6 TheNo-Cognitive-PressureandNo-CommunicationSimulations . 148 6.1 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . 148 6.2 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 7 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 7.1 TheProducerBiasHypothesis. . . . . . . . . . . . . . . . 153 7.2 AdaptiveFactors . . . . . . . . . . . . . . . . . . . . . . . 156 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 10 EvolutionofSignalinginaMulti-RobotSystem:Categorization andCommunication . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 ChristosAmpatzis,ElioTuci,VitoTrianni,andMarcoDorigo 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 2 Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 2.1 DescriptionoftheTask . . . . . . . . . . . . . . . . . . . 162 2.2 TheSimulationModel . . . . . . . . . . . . . . . . . . . . 164 2.3 TheControllerandtheEvolutionaryAlgorithm . . . . . . 165 2.4 TheFitnessFunction. . . . . . . . . . . . . . . . . . . . . 166 3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 3.1 AFirstSeriesofPost-evaluationTests . . . . . . . . . . . 168 3.2 SoundSignalingandCommunication . . . . . . . . . . . . 169 3.3 OntheAdaptiveSignificanceofSignaling . . . . . . . . . 172 4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 Contents ix 11 EvolutionofImplicitandExplicitCommunication inMobileRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 JoachimdeGreeffandStefanoNolfi 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 2 ExperimentalSetup . . . . . . . . . . . . . . . . . . . . . . . . . 180 2.1 TheEnvironmentandtheRobots . . . . . . . . . . . . . . 181 2.2 TheNeuralController . . . . . . . . . . . . . . . . . . . . 181 2.3 TheEvolutionaryAlgorithm. . . . . . . . . . . . . . . . . 183 3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 3.1 SymmetricalStrategy . . . . . . . . . . . . . . . . . . . . 187 3.2 AsymmetricalStrategy . . . . . . . . . . . . . . . . . . . 196 4 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 5.1 SensorsandActuators . . . . . . . . . . . . . . . . . . . . 210 5.2 UpdateFunctionsoftheNeurons . . . . . . . . . . . . . . 211 5.3 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . 211 5.4 CriteriaUsedtoIdentifytheBehaviorExhibitedbythe RobotsAnalyzedinSect.3.2 . . . . . . . . . . . . . . . . 212 SupplementaryData . . . . . . . . . . . . . . . . . . . . . . . . . 213 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 12 EvolvingCommunicationinEmbodiedAgents:Assessment andOpenChallenges . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 StefanoNolfiandMarcoMirolli 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 2 AdaptiveRole . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 3 ExpressivePowerandOrganizationComplexity . . . . . . . . . . 216 4 Stability,Robustness,andEvolvability . . . . . . . . . . . . . . . 217 5 KnowledgeGain(Modeling) . . . . . . . . . . . . . . . . . . . . 218 6 OpenQuestionsforFutureResearch . . . . . . . . . . . . . . . . 219 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 PartIII EvolutionofLanguage 13 Modeling The Formation of Language in Embodied Agents: MethodsandOpenChallenges . . . . . . . . . . . . . . . . . . . . . 223 LucSteels 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 2 Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 3 Challenges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 3.1 MechanismDesignofLanguageGames . . . . . . . . . . 226 3.2 ConceptFormation . . . . . . . . . . . . . . . . . . . . . 228 3.3 LexiconFormation. . . . . . . . . . . . . . . . . . . . . . 229 3.4 GrammarFormation . . . . . . . . . . . . . . . . . . . . . 230 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 x Contents 14 ModelingtheFormationofLanguage:EmbodiedExperiments . . . 235 LucSteels 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 2 TheGroundedNamingGame . . . . . . . . . . . . . . . . . . . . 236 2.1 Sensori-motorAspects . . . . . . . . . . . . . . . . . . . . 237 2.2 ConceptualAspects . . . . . . . . . . . . . . . . . . . . . 239 2.3 LinguisticAspects . . . . . . . . . . . . . . . . . . . . . . 242 2.4 EstablishingObjectIdentity . . . . . . . . . . . . . . . . . 244 2.5 ExperimentalResults . . . . . . . . . . . . . . . . . . . . 245 3 SpatialLanguageandPerspectiveReversal . . . . . . . . . . . . . 247 3.1 Sensori-motorAspects . . . . . . . . . . . . . . . . . . . . 247 3.2 ConceptualandLinguisticAspects . . . . . . . . . . . . . 249 3.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250 4 TheCaseExperiment . . . . . . . . . . . . . . . . . . . . . . . . 253 4.1 Sensori-motorAspects . . . . . . . . . . . . . . . . . . . . 254 4.2 LinguisticAspects . . . . . . . . . . . . . . . . . . . . . . 255 5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 15 MathematicalModelingofLanguageGames. . . . . . . . . . . . . . 263 VittorioLoreto,AndreaBaronchelli,andAndreaPuglisi 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263 2 TheNamingGame . . . . . . . . . . . . . . . . . . . . . . . . . . 264 2.1 SymmetryBreaking:AControlledCase . . . . . . . . . . 268 2.2 TheRoleoftheInteractionTopology . . . . . . . . . . . . 269 2.3 VariantsoftheNamingGame . . . . . . . . . . . . . . . . 270 3 TheCategoryGame . . . . . . . . . . . . . . . . . . . . . . . . . 270 3.1 TheCategoryGameModel . . . . . . . . . . . . . . . . . 272 3.2 HierarchicalCoordination . . . . . . . . . . . . . . . . . . 274 4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 16 Modeling the Formation of Language in Embodied Agents: ConclusionsandFutureResearch . . . . . . . . . . . . . . . . . . . . 283 LucSteelsandVittorioLoreto 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 2 Embodiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 3 LanguageGames. . . . . . . . . . . . . . . . . . . . . . . . . . . 284 4 ConceptFormation. . . . . . . . . . . . . . . . . . . . . . . . . . 284 5 Lexicon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 6 Grammar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 7 MathematicalModeling . . . . . . . . . . . . . . . . . . . . . . . 286 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 Contents xi PartIV Conclusion 17 EmbodiedandCommunicatingAgents:TowardstheEstablishment ofaSolidTheoreticalandMethodologicalFramework . . . . . . . . 291 StefanoNolfiandMarcoMirolli References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 PartV Appendix:SoftwareandHardwareTools 18 Evorobot* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297 StefanoNolfiandOnofrioGigliotta 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297 2 Evorobot*Features . . . . . . . . . . . . . . . . . . . . . . . . . 298 3 UsingEvorobot* . . . . . . . . . . . . . . . . . . . . . . . . . . . 300 4 UserManual,Tutorials&DownloadInstructions . . . . . . . . . . 301 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301 19 E-puck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 DarioFloreano,SaraMitri,andJulienHubert 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 2 TheE-puckRobot . . . . . . . . . . . . . . . . . . . . . . . . . . 304 3 CommunicationTurrets . . . . . . . . . . . . . . . . . . . . . . . 304 3.1 LEDLightTurret . . . . . . . . . . . . . . . . . . . . . . 304 3.2 Omni-directionalCameraTurret . . . . . . . . . . . . . . 305 4 CommunicationExperiments . . . . . . . . . . . . . . . . . . . . 305 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 20 Babel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307 LucSteelsandMartinLoetzsch 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307 2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308 3 Illustration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 4 Outlook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

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