Download Evolving "elementary sight" strategies in predators via Genetic

Evolving "elementary sight" strategies
in predators
via
Genetic programming
ICBV Project
20.2.07
Lior Becker
Goals





Witness the evolution of the predator "strategy".
Imitate the evolution of the parts in the brain that
handle the visual informal interpretation .
Try to understand the development stages in the
strategy.
Try to analyze the usage of the photoreceptors as
part of the brain function .
Test if the development of sight strategy is a complex
process or can be emulated in a computer .
What is Genetic programming ?

Bio-Inspired

Inspired by Darwin’s evolutionary
principles

J.Koza style
Charles Darwin
Principles
Competition
 Variation
 Overproduction
 Survival of the fittest

Population adaptation
Genetic programming
Main algorithm:
1. Generate the initial population
2. Fitness evaluation
3. Create new generation:
–
–
–
4.
Selection
Cross Over
Mutation
Repeat until stop condition
Genetic programming
Individual Representation


Individual is a Scheme-Like Function
Represented as a tree (AST)
Genetic programming
Recombination - cross over
Predator strategy through GP

World simulator
Predator
Prey

Process of work


Predator





GP
Brain function
Undeveloped eye
15 photoreceptors
Moving ability
Fitness: catching prey
World simulator & Prey
WORLD



2D world
100*100 Matrix
Predator and prey can
be at any location
PREY




Static prey
Straight Line prey
Circle prey
Random prey
Process of work
4 Experiments:





Evolving 51 generations, different preys
Test cases: unlearned preys
Plot fitness through time
Recording movies
Function analysis
Results:
straight Line
prey
Results: test case


Test Case
Why is it important ?
Results: Fitness vs. generations


Improvement
population
adaptation
Results: Function
(IFLTE
(IFLTE P6 (PROGN2(IFLTE P3 P11 P13 P13 )(IFLTE P2 MAXPP MF P5 ))
(PROGN2 P4 P6 )(IFLTE AP MB P5 MB ))
(PLUS MAXPP P15 )
(PLUS(IFLTE P3 P1 MF P14 )(IFLTE TR MF P1 P12 ))
(PROGN2(PLUS P12 P10 )(PLUS P11 TL )))

Redundancy ? – Dead code.
(IFLTE
(IFLTE P6 (IFLTE P2 MAXPP MF P5) P6 (IFLTE AP MB P5 MB ))
(PLUS MAXPP P15 )
(PLUS(IFLTE P3 P1 MF P14 )(IFLTE TR MF P1 P12 ))
(PLUS P11 TL ))
Pi – photoreceptors; TL – turn left; TR – turn right; MF – move forward.
Results: photo receptors



External spreading
Why ?
Human eye Diff (Rods)
Conclusions & discussion
1.
Predator strategy evolvement
–
–
–
2.
3.
4.
Random strategy
Left/Right circle rotation strategy
Combined (Left & Right) strategy
External photoreceptors spared out
Function redundancy, The key to new life
None sophisticated strategies
“efficient chase”, why ?
Future work

More realistic 3D world
–
–
–
–

Obstacles
3D eye
3D world
Sophisticated preys
Co-Evolution, prey and predator
References








Darwin, Charles: On the origin of species by means of natural
selection. London, John Murray. (1859)
John R. Koza: Genetic Programming: On the programming of
computers by natural selection. MIT
Press, Cambridge, Mass. (1992)
John R. Koza: Genetic Programming II: Automatic Discovery of
Reusable Programs. MIT press,
Cambridge, Mass. (1994)
John R. Koza: Evolution of Subsumption Using Genetic Programming.
MIT press, Cambridge, Mass. (1993)
Holland, John H. Adaptation in Natural and Artificial Systems. Ann
Arbor, MI: University of Michigan Press (1975).
Haynes, Sen.: Evolving behavioral strategies in predators and prey,
University of Tulsa (1996).
Movie Data Base