@article {145, title = {A Hormone-Driven Epigenetic Mechanism for Adaptation in Autonomous Robots}, journal = {IEEE Transactions on Cognitive and Developmental Systems}, volume = {10}, year = {2018}, note = {Download (Open Access)}, pages = {445{\textendash}454}, publisher = {IEEE}, abstract = {Different epigenetic mechanisms provide biological organisms with the ability to adjust their physiology and/or morphology and adapt to a wide range of challenges posed by their environments. In particular, one type of epigenetic process, in which hormone concentrations are linked to the regulation of hormone receptors, has been shown to have implications for behavioral development. In this paper, taking inspiration from these biological processes, we investigate whether an epigenetic model based on the concept of hormonal regulation of receptors can provide a similarly robust and general adaptive mechanism for autonomous robots. We have implemented our model using a Koala robot, and tested it in a series of experiments in six different environments with varying challenges to negotiate. Our results, including the emergence of varied behaviors that permit the robot to exploit its current environment, demonstrate the potential of our epigenetic model as a general mechanism for adaptation in autonomous robots.}, issn = {2379-8920}, doi = {10.1109/TCDS.2017.2775620}, url = {https://ieeexplore.ieee.org/document/8115310/}, author = {Lones, John and Lewis, Matthew and Lola Ca{\~n}amero} } @article {2016, title = {From Sensorimotor Experiences to Cognitive Development: Investigating the Influence of Experiential Diversity on the Development of an Epigenetic Robot}, journal = {Frontiers in Robotics and AI}, volume = {3}, year = {2016}, note = {Download (Open Access)}, month = {08/2016}, publisher = {Frontiers}, abstract = {Using an epigenetic model, in this paper we investigate the importance of sensorimotor experiences and environmental conditions in the emergence of more advanced cognitive abilities in an autonomous robot. We let the robot develop in three environments affording very different (physical and social) sensorimotor experiences: a "normal", standard environment, with reasonable opportunities for stimulation, a "novel" environment that offers many novel experiences, and a "sensory deprived" environment where the robot has very few and over-simplistic chances to interact. We then: (a) assess how these different experiences influence and change the robot{\textquoteright}s ongoing development and behavior; (b) compare the said development to the different sensorimotor stages that infants go through and (c) finally after each "baby" robot has had time to develop in its environment, we recreate and asses its cognitive abilities using different well-known tests used with human infants such as violation of expectation (VOE) paradigm. Although our model was not explicitly designed following Piaget{\textquoteright}s, or any other sensorimotor developmental theory, we observed, and discuss in the paper, that relevant sensorimotor experiences, or the lack of, result in the robot going through unplanned development "stages" bearing some similarities to infant development, and could be interpreted in terms of Piaget{\textquoteright}s theory.}, issn = {2296-9144}, doi = {10.3389/frobt.2016.00044}, url = {http://journal.frontiersin.org/article/10.3389/frobt.2016.00044}, author = {Lones, John and Lewis, Matthew and Lola Ca{\~n}amero} } @inproceedings {2014, title = {Hormonal Modulation of Development and Behaviour Permits a Robot to Adapt to Novel Interactions}, booktitle = {Proc. 14th Conference on the Synthesis and Simulation of Living Systems (ALIFE 2014)}, year = {2014}, note = {Download}, pages = {184{\textendash}191}, publisher = {MIT Press}, organization = {MIT Press}, address = {New York, NY}, abstract = {Hormones are known to play a critical role in modulating the behaviour and development of organisms when confronted with different environment challenges. In this paper we present a biologically plausible hormonal mechanism that allows an autonomous robot to interact appropriately with novel objects and interactions depending upon both its current internal state and its past experiences. In our experiments, robots that had been exposed to negative experiences during their initial developmental phase displayed withdrawn behaviour and were less likely to explore new objects and environments, or to engage with a human caregiver. In contrast, robots with a positive upbringing showed much greater levels of outgoing behaviour such as exploration and social interaction.}, isbn = {978-0-262-32621-6}, doi = {10.7551/978-0-262-32621-6-ch031}, url = {https://www.mitpressjournals.org/doi/abs/10.1162/978-0-262-32621-6-ch031}, author = {Lones, John and Lewis, Matthew and Lola Ca{\~n}amero} } @inproceedings {2014, title = {Hormonal Modulation of Interaction Between Autonomous Agents}, booktitle = {Proc. 4th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-Epirob 2014)}, year = {2014}, note = {Download}, month = {10/2014}, pages = {402{\textendash}407}, publisher = {IEEE}, organization = {IEEE}, address = {Genoa, Italy}, abstract = {Epigenetic like mechanism potentially have a critical role to play in the long term modulation of behaviour, interaction and adaptation. In this study we implement an model of these mechanism, the upward and downward regulation of hormone receptors located in a simply hormone driven autonomous agent. We frame this study in a multi agent setup using competition as a way to change the dynamics of the environment and the challenges the agents face. We found that this simply epigenetic mechanism has the potential to significantly alter the behaviour of the agents, allowing them to develop not only unique individual behaviour but also group like structures that permit them to better adapt to the different challenges that the environment presents.}, doi = {10.1109/DEVLRN.2014.6983015}, url = {http://ieeexplore.ieee.org/document/6983015/}, author = {Lones, John and Lewis, Matthew and Lola Ca{\~n}amero} } @inproceedings {2013, title = {Epigenetic Adaptation in Action Selection Environments with Temporal Dynamics}, booktitle = {Advances in Artificial Life, ECAL 2013}, year = {2013}, note = {Download (Open Access)}, pages = {505{\textendash}512}, publisher = {MIT Press}, organization = {MIT Press}, abstract = {To operate in dynamic environments robots must be able to adapt their behaviour to meet the challenges that these pose while being constrained by their physical and computational limitation. In this paper we continue our study into using biologically inspired epigenetic adaptation through hormone modulation as a way to accommodate the needed flexibility in robots{\textquoteright} behaviour, focusing on problems of temporal dynamics. We have specifically framed our study in three variants of dynamic three-resource action selection environment. The challenges posed by these environments include: moving resources, temporal and increasing unavailability of resources, and cyclic changes in type and availability of resources related to cyclic environmental changes.}, doi = {10.7551/978-0-262-31709-2-ch073}, url = {https://www.mitpressjournals.org/doi/abs/10.1162/978-0-262-31709-2-ch073}, author = {Lones, John and Lola Ca{\~n}amero and Lewis, Matthew} } @inproceedings {2013, title = {Epigenetic Adaptation through Hormone Modulation in Autonomous Robots}, booktitle = {2013 IEEE 3rd Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL-Epirob 2013)}, year = {2013}, note = {Winner: Best Student Paper Download}, pages = {1{\textendash}6}, publisher = {IEEE}, organization = {IEEE}, address = {Osaka}, abstract = {Epigenetic adaptation provides biological organisms with the ability to adjust their physiology and/or morphology in order to meet some of the challenges posed by their environment. Recent research has suggested that this process may be controlled by hormones. In this paper, we present a model that allows an autonomous robot to develop its systems in accordance with the environment it is currently situated in. Experiments have been undertaken in multiple environments with different challenges and niches to negotiate. We have so far seen encouraging results and the emergence of unique behaviours tailored to exploiting its current environment.}, isbn = {9781479910366}, doi = {10.1109/DevLrn.2013.6652561}, author = {Lones, John and Lola Ca{\~n}amero} }