行为持久性与进化机器人中共进化通信的不完全功能迁移
Behavioral Persistence and Incomplete Functional Transfer of Co-evolved Communication in Evolutionary Robotics
- Instituto de Investigaciones en Inteligencia Artificial, Universidad Veracruzana（韦拉克鲁斯大学人工智能研究所）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本研究评估共进化通信从2D仿真到3D物理环境的直接迁移，发现迁移部分且不对称，仅一个智能体在30个种子中一次到达食物源，表明成功迁移需同时保留信号与导航条件。
AI中文摘要：
这项工作评估了从二维模拟到三维物理环境的共进化通信协议的直接迁移，且不重新训练网络权重。两个由带有残差连接的GRU网络控制的e-puck型机器人在具有社会信号的食物寻找任务中进行了评估。感觉和运动转换层需要三次修正以实现稳定的物理操作，包括基于训练残差权重中可测量的不对称性对饥饿项进行校准。即使进行了这些修正，迁移也是部分且不对称的：一个智能体在三十个测试种子中的一个到达了食物源，而另一个在任何种子中均未到达。任务成功是通过两个智能体都到达食物区域来衡量的。一个额外的实验在社会通道中加入了明确的方向信息，产生了接收智能体轨迹的可观察变化，并在几个特定案例中有所改善。然而，这些改善不足以让第二个智能体到达食物源，这表明限制可能不仅由信号转换解释，还可能由在新物理约束下导航的能力解释。结果表明，涌现通信的成功迁移可能不仅取决于保留信号过程本身，还取决于保留协议进化所处的生态和导航条件。
英文摘要：
This work evaluates the direct transfer of a co-evolved communication protocol from a 2D simulation to a 3D physical environment, without retraining the network weights. Two e-puck-type robots, controlled by a GRU network with residual connection, were evaluated in a food-seeking task with social signaling. The sensory and motor translation layer required three corrections for stable physical operation, including the calibration of a hunger term based on a measurable asymmetry in the trained residual weights. Even with these corrections, the transfer was partial and asymmetric: one agent reached the food source in one of thirty tested seeds, while the other did not reach it in any. Task success was measured by both agents reaching the food area. An additional experiment incorporating explicit directional information in the social channel produced observable changes in the trajectory of the receiving agent and improvements in several specific cases. However, these improvements were not enough to allow the second agent to reach the food source, suggesting that the limitation may not be explained solely by signal translation, but also by the ability to navigate under the new physical constraints. The results suggest that successful transfer of emergent communication may depend not only on preserving the signaling process itself, but also on preserving the ecological and navigational conditions under which the protocol evolved.
