BUSTLE: a Versatile Tool for the Evolutionary Learning of STL Specifications from Data.

Describing the properties of complex systems that evolve over time is a crucial requirement for monitoring and understanding them. Signal Temporal Logic (STL) is a framework that proved to be effective for this aim because it is expressive and allows state properties as human-readable formulae. Crafting STL formulae that fit a particular system is, however, a difficult task. For this reason, a few approaches have been proposed recently for the automatic learning of STL formulae starting from observations of the system. In this paper, we propose BUSTLE (Bi-level Universal STL Evolver), an approach based on evolutionary computation for learning STL formulae from data. BUSTLE advances the state-of-the-art because it (i) applies to a broader class of problems, in terms of what is known about the state of the system during its observation, and (ii) generates both the structure and the values of the parameters of the formulae employing a bi-level search mechanism (global for the structure, local for the parameters). We consider two cases where (a) observations of the system in both anomalous and regular state are available, or (b) only observations of regular state are available. We experimentally evaluate BUSTLE on problem instances corresponding to the two cases and compare it against previous approaches. We show that the evolved STL formulae are effective and human-readable: the versatility of BUSTLE does not come at the cost of lower effectiveness.

Evolving Modularity in Soft Robots Through an Embodied and Self-Organizing Neural Controller.

Modularity is a desirable property for embodied agents, as it could foster their suitability to different domains by disassembling them into transferable modules that can be reassembled differently. We focus on a class of embodied agents known as voxel-based soft robots (VSRs). They are aggregations of elastic blocks of soft material; as such, their morphologies are intrinsically modular. Nevertheless, controllers used until now for VSRs act as abstract, disembodied processing units: Disassembling such controllers for the purpose of module transferability is a challenging problem. Thus, the full potential of modularity for VSRs still remains untapped. In this work, we propose a novel self-organizing, embodied neural controller for VSRs. We optimize it for a given task and morphology by means of evolutionary computation: While evolving, the controller spreads across the VSR morphology in a way that permits emergence of modularity. We experimentally investigate whether such a controller (i) is effective and (ii) allows tuning of its degree of modularity, and with what kind of impact. To this end, we consider the task of locomotion on rugged terrains and evolve controllers for two morphologies. Our experiments confirm that our self-organizing, embodied controller is indeed effective. Moreover, by mimicking the structural modularity observed in biological neural networks, different levels of modularity can be achieved. Our findings suggest that the self-organization of modularity could be the basis for an automatic pipeline for assembling, disassembling, and reassembling embodied agents.

Criticality-Driven Evolution of Adaptable Morphologies of Voxel-Based Soft-Robots.

The paradigm of voxel-based soft robots has allowed to shift the complexity from the control algorithm to the robot morphology itself. The bodies of voxel-based soft robots are extremely versatile and more adaptable than the one of traditional robots, since they consist of many simple components that can be freely assembled. Nonetheless, it is still not clear which are the factors responsible for the adaptability of the morphology, which we define as the ability to cope with tasks requiring different skills. In this work, we propose a task-agnostic approach for automatically designing adaptable soft robotic morphologies in simulation, based on the concept of criticality. Criticality is a property belonging to dynamical systems close to a phase transition between the ordered and the chaotic regime. Our hypotheses are that 1) morphologies can be optimized for exhibiting critical dynamics and 2) robots with those morphologies are not worse, on a set of different tasks, than robots with handcrafted morphologies. We introduce a measure of criticality in the context of voxel-based soft robots which is based on the concept of avalanche analysis, often used to assess criticality in biological and artificial neural networks. We let the robot morphologies evolve toward criticality by measuring how close is their avalanche distribution to a power law distribution. We then validate the impact of this approach on the actual adaptability by measuring the resulting robots performance on three different tasks designed to require different skills. The validation results confirm that criticality is indeed a good indicator for the adaptability of a soft robotic morphology, and therefore a promising approach for guiding the design of more adaptive voxel-based soft robots.

Automatic Search-and-Replace From Examples With Coevolutionary Genetic Programming.

We describe the design and implementation of a system for executing search-and-replace text processing tasks automatically, based only on examples of the desired behavior. The examples consist of pairs describing the original string and the desired modified string. Their construction, thus, does not require any specific technical skill. The system constructs a solution to the specified task that can be used unchanged on popular existing software for text processing. The solution consists of a search pattern coupled with a replacement expression: the former is a regular expression which describes both the strings to be replaced and their portions to be reused in the latter, which describes how to build the modified strings. Our proposed system is internally based on genetic programming and implements a form of cooperative coevolution in which two separate populations are evolved independently, one for search patterns and the other for replacement expressions. We assess our proposal on six tasks of realistic complexity obtaining very good results, both in terms of absolute quality of the solutions and with respect to the challenging baselines considered.

Weighted Hierarchical Grammatical Evolution.

Grammatical evolution (GE) is one of the most widespread techniques in evolutionary computation. Genotypes in GE are bit strings while phenotypes are strings, of a language defined by a user-provided context-free grammar. In this paper, we propose a novel procedure for mapping genotypes to phenotypes that we call weighted hierarchical GE (WHGE). WHGE imposes a form of hierarchy on the genotype and encodes grammar symbols with a varying number of bits based on the relative expressive power of those symbols. WHGE does not impose any constraint on the overall GE framework, in particular, WHGE may handle recursive grammars, uses the classical genetic operators, and does not need to define any bound in advance on the size of phenotypes. We assessed experimentally our proposal in depth on a set of challenging and carefully selected benchmarks, comparing the results of the standard GE framework as well as two of the most significant enhancements proposed in the literature: 1) position-independent GE and 2) structured GE. Our results show that WHGE delivers very good results in terms of fitness as well as in terms of the properties of the genotype-phenotype mapping procedure.

Active Learning of Regular Expressions for Entity Extraction.

We consider the automatic synthesis of an entity extractor, in the form of a regular expression, from examples of the desired extractions in an unstructured text stream. This is a long-standing problem for which many different approaches have been proposed, which all require the preliminary construction of a large dataset fully annotated by the user. In this paper, we propose an active learning approach aimed at minimizing the user annotation effort: the user annotates only one desired extraction and then merely answers extraction queries generated by the system. During the learning process, the system digs into the input text for selecting the most appropriate extraction query to be submitted to the user in order to improve the current extractor. We construct candidate solutions with genetic programming (GP) and select queries with a form of querying-by-committee, i.e., based on a measure of disagreement within the best candidate solutions. All the components of our system are carefully tailored to the peculiarities of active learning with GP and of entity extraction from unstructured text. We evaluate our proposal in depth, on a number of challenging datasets and based on a realistic estimate of the user effort involved in answering each single query. The results demonstrate high accuracy with significant savings in terms of computational effort, annotated characters, and execution time over a state-of-the-art baseline.