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Rather than acting as a review or analysis of the field, this essay focuses squarely on the motivations for investigating open-endedness and the opportunities it opens up. It begins by contemplating the awesome accomplishments of evolution in nature and the profound implications if such a process could be ignited on a computer. Some of the milestones in our understanding so far are then discussed, finally closing by highlighting the grand challenge of formalizing open-endedness as a computational process that can be encoded as an algorithm. The main contribution is to articulate why open-endedness deserves a place alongside artificial intelligence as one of the great computational challenges, and opportunities, of our time.

For domains in which fitness is subjective or difficult to express formally, interactive evolutionary computation (IEC) is a natural choice. It is possible that a collaborative process combining feedback from multiple users can improve the quality and quantity of generated artifacts. Picbreeder, a large-scale online experiment in collaborative interactive evolution (CIE), explores this potential. Picbreeder is an online community in which users can evolve and share images, and most importantly, continue evolving others' images. Through this process of branching from other images, and through continually increasing image complexity made possible by the underlying neuroevolution of augmenting topologies (NEAT) algorithm, evolved images proliferate unlike in any other current IEC system. This paper discusses not only the strengths of the Picbreeder approach, but its challenges and shortcomings as well, in the hope that lessons learned will inform the design of future CIE systems.

Looking to nature as inspiration, for at least the past 25 years, researchers in the field of neuroevolution (NE) have developed evolutionary algorithms designed specifically to evolve artificial neural networks (ANNs). Yet the ANNs evolved through NE algorithms lack the distinctive characteristics of biological brains, perhaps explaining why NE is not yet a mainstream subject of neural computation. Motivated by this gap, this letter shows that when geometry is introduced to evolved ANNs through the hypercube-based neuroevolution of augmenting topologies algorithm, they begin to acquire characteristics that indeed are reminiscent of biological brains. That is, if the neurons in evolved ANNs are situated at locations in space (i.e., if they are given coordinates), then, as experiments in evolving checkers-playing ANNs in this letter show, topographic maps with symmetries and regularities can evolve spontaneously. The ability to evolve such maps is shown in this letter to provide an important advantage in generalization. In fact, the evolved maps are sufficiently informative that their analysis yields the novel insight that the geometry of the connectivity patterns of more general players is significantly smoother and more contiguous than less general ones. Thus, the results reveal a correlation between generality and smoothness in connectivity patterns. They also hint at the intriguing possibility that as NE matures as a field, its algorithms can evolve ANNs of increasing relevance to those who study neural computation in general.

Abstract Biological neural networks are systems of extraordinary computational capabilities shaped by evolution, development, and lifelong learning. The interplay of these elements leads to the emergence of biological intelligence. Inspired by such intricate natural phenomena, Evolved Plastic Artificial Neural Networks (EPANNs) employ simulated evolution in-silico to breed plastic neural networks with the aim to autonomously design and create learning systems. EPANN experiments evolve networks that include both innate properties and the ability to change and learn in response to experiences in different environments and problem domains. EPANNs' aims include autonomously creating learning systems, bootstrapping learning from scratch, recovering performance in unseen conditions, testing the computational advantages of particular neural components, and deriving hypotheses on the emergence of biological learning. Thus, EPANNs may include a large variety of different neuron types and dynamics, network architectures, plasticity rules, and other factors. While EPANNs have seen considerable progress over the last two decades, current scientific and technological advances in artificial neural networks are setting the conditions for radically new approaches and results. Exploiting the increased availability of computational resources and of simulation environments, the often challenging task of hand-designing learning neural networks could be replaced by more autonomous and creative processes. This paper brings together a variety of inspiring ideas that define the field of EPANNs. The main methods and results are reviewed. Finally, new opportunities and possible developments are presented. [ABSTRACT FROM AUTHOR]

This position article argues that the sciences of the artificial (artificial intelligence and artificial life) have a special relationship to art that is absent from much of science. Just as art is often a depiction or interpretation of nature, so are the algorithms in the sciences of the artificial. This observation is important because the discourse in these fields largely ignores the relevance of subjective resonance with nature to scientific progress. Yet progress is potentially stifled if scientists cannot discuss such resonance openly. To support this view, the author provides examples that illustrate how the subjective impression of such resonance led to novel encodings and algorithms in his own career. The author concludes that there may be more to gain than to lose by allowing some level of subjectivity to enter the discourse in the sciences of the artificial. [ABSTRACT FROM AUTHOR]

An important goal in both artificial life and biology is uncovering the most general principles underlying life, which might catalyze both our understanding of life and engineering lifelike machines. While many such general principles have been hypothesized, conclusively testing them is difficult because life on Earth provides only a singular example from which to infer. To circumvent this limitation, this article formalizes an approach called radical reimplementation. The idea is to investigate an abstract biological hypothesis by intentionally reimplementing its main principles to diverge maximally from existing natural examples. If the reimplementation successfully exhibits properties resembling biology, it may support the underlying hypothesis better than an alternative example inspired more directly by nature. The approach thereby provides a principled alternative to a common tradition of defending and minimizing deviations from nature in artificial life. This work reviews examples that can be interpreted through the lens of radical reimplementation to yield potential insights into biology despite having purposely unnatural experimental setups. In this way, radical reimplementation can help renew the relevance of computational systems for investigating biological theory and can act as a practical philosophical tool to help separate the fundamental features of terrestrial biology from the epiphenomenal. [ABSTRACT FROM AUTHOR]

Biological brains can adapt and learn from past experience. Yet neuroevolution, that is, automatically creating artificial neural networks (ANNs) through evolutionary algorithms, has sometimes focused on static ANNs that cannot change their weights during their lifetime. A profound problem with evolving adaptive systems is that learning to learn is highly deceptive. Because it is easier at first to improve fitness without evolving the ability to learn, evolution is likely to exploit domain-dependent static (i.e., nonadaptive) heuristics. This article analyzes this inherent deceptiveness in a variety of different dynamic, reward-based learning tasks, and proposes a way to escape the deceptive trap of static policies based on the novelty search algorithm. The main idea in novelty search is to abandon objective-based fitness and instead simply search only for novel behavior, which avoids deception entirely. A series of experiments and an in-depth analysis show how behaviors that could potentially serve as a stepping stone to finding adaptive solutions are discovered by novelty search yet are missed by fitness-based search. The conclusion is that novelty search has the potential to foster the emergence of adaptive behavior in reward-based learning tasks, thereby opening a new direction for research in evolving plastic ANNs. [ABSTRACT FROM PUBLISHER]

An important goal for machine learning is to transfer knowledge between tasks. For example, learning to play RoboCup Keepaway should contribute to learning the full game of RoboCup soccer. Previous approaches to transfer in Keepaway have focused on transforming the original representation to fit the new task. In contrast, this paper explores the idea that transfer is most effective if the representation is designed to be the same even across different tasks. To demonstrate this point, a bird's eye view (BEV) representation is introduced that can represent different tasks on the same two-dimensional map. For example, both the 3 vs. 2 and 4 vs. 3 Keepaway tasks can be represented on the same BEV. Yet the problem is that a raw two-dimensional map is high-dimensional and unstructured. This paper shows how this problem is addressed naturally by an idea from evolutionary computation called indirect encoding, which compresses the representation by exploiting its geometry. The result is that the BEV learns a Keepaway policy that transfers without further learning or manipulation. It also facilitates transferring knowledge learned in a different domain, Knight Joust, into Keepaway. Finally, the indirect encoding of the BEV means that its geometry can be changed without altering the solution. Thus static representations facilitate several kinds of transfer. [ABSTRACT FROM AUTHOR]

Two major goals in machine learning are the discovery and improvement of solutions to complex problems. In this paper, we argue that complexification, i.e. the incremental elaboration of solutions through adding new structure, achieves both these goals. We demonstrate the power of complexification through the NeuroEvolution of Augmenting Topologies (NEAT) method, which evolves increasingly complex neural network architectures. NEAT is applied to an open-ended coevolutionary robot duel domain where robot controllers compete head to head. Because the robot duel domain supports a wide range of strategies, and because coevolution benefits from an escalating arms race, it serves as a suitable testbed for studying complexification. When compared to the evolution of networks with fixed structure, complexifying evolution discovers significantly more sophisticated strategies. The results suggest that in order to discover and improve complex solutions, evolution, and search in general, should be allowed to complexify as well as optimize. [ABSTRACT FROM AUTHOR]

A major challenge for evolutionary computation is to evolve phenotypes such as neural networks, sensory systems, or motor controllers at the same level of complexity as found in biological organisms. In order to meet this challenge, many researchers are proposing indirect encodings, that is, evolutionary mechanisms where the same genes are used multiple times in the process of building a phenotype. Such gene reuse allows compact representations of very complex phenotypes. Development is a natural choice for implementing indirect encodings, if only because nature itself uses this very process. Motivated by the development of embryos in nature, we define artificial embryogeny (AE) as the subdiscipline of evolutionary computation (EC) in which phenotypes undergo a developmental phase. An increasing number of AE systems are currently being developed, and a need has arisen for a principled approach to comparing and contrasting, and ultimately building, such systems. Thus, in this paper, we develop a principled taxonomy for AE. This taxonomy provides a unified context for long-term research in AE, so that implementation decisions can be compared and contrasted along known dimensions in the design space of embryogenic systems. It also allows predicting how the settings of various AE parameters affect the capacity to efficiently evolve complex phenotypes. [ABSTRACT FROM AUTHOR]