发表机构
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 中文总结
本研究评估协同进化的通信从2D到3D模拟的迁移，发现成功率随情节时间预算线性增加，社会线索主要作为干扰辅助，且存在一致的不对称性，并排除了物理引擎伪影。
AI 中文摘要
本研究考察了两个机器人智能体之间协同进化的通信机制从离散的二维（2D）模拟器到具有真实物理特性的三维（3D）模拟器的迁移。研究聚焦于在2D环境中协同进化的通信机制在迁移到基于物理的3D模拟器后是否保留其功能角色。为支持此分析，研究了情节时间预算、社会线索以及两个协同进化角色之间的不对称性的影响。结果表明，成功率随评估的时间预算近似线性增加，在2,000至6,000个物理步之间没有平台期的证据，这表明基于较短情节的评估可能低估了训练控制器的性能。在两个模拟器中，社会线索主要作为干扰辅助机制而非导航指南发挥作用，尽管在2D中效果更为显著。对八个独立进化运行的分析揭示了一致的不对称方向，尽管其幅度在不同运行间有所变化。控制智能体之间的处理顺序使我们能够排除物理引擎的伪影。最后，讨论了可能有助于迁移后观察到的剩余性能差距的因素。
英文摘要
This work examines the transfer of a co-evolved communication mechanism between two robotic agents from a discrete two-dimensional (2D) simulator to a three-dimensional simulator with real physics (3D). The study focuses on whether a communication mechanism co-evolved in a 2D environment retains its functional role after transfer to a 3D physics-based simulator. To support this analysis, the effects of the episode time budget, the social cue, and the asymmetry between the two co-evolved roles were examined. The results indicate that the success rate increased approximately linearly with the evaluated time budgets, with no evidence of a plateau between 2,000 and 6,000 physics steps, suggesting that evaluations based on shorter episodes may underestimate the performance of the trained controllers. In both simulators, the social cue functioned primarily as a jam- assistance mechanism rather than as a navigation guide, although with a more pronounced effect in 2D. Analysis of eight independent evolutionary runs revealed a consistent direction of asymmetry, although its magnitude varied across runs. Controlling the processing order between agents allowed us to rule out an artifact of the physics engine. Finally, the results are discussed in terms of the factors that may contribute to the remaining performance gap observed after transfer.
Comments14 pages, 5 figures. Preprint
