Talk (presented by Risto Miikkulainen) at BEACON Congress 2013

1. Open-Ended Behavioral Complexity
for Evolved Virtual Creatures
Dan Lessin Don Fussell Risto Miikkulainen
The University of Texas at Austin

2. Motivation
Method
Results
Future Work
Conclusion
Karl Sims
Behavioral Complexity Since 1994
Why Increase Behavioral Complexity?
Karl Sims
Sims, K. (1994). Evolving virtual creatures. In Proceedings of the 21st annual conference on
Computer graphics and interactive techniques, SIGGRAPH ’94, pages 15–22, New York,
NY, USA. ACM
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (2/36)

3. Motivation
Method
Results
Future Work
Conclusion
Karl Sims
Behavioral Complexity Since 1994
Why Increase Behavioral Complexity?
Behavioral Complexity Since 1994
[Lipson and Pollack, 2000] [Shim and Kim, 2003] [Miconi, 2008] [Lehman and Stanley, 2011]
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (3/36)

4. Motivation
Method
Results
Future Work
Conclusion
Karl Sims
Behavioral Complexity Since 1994
Why Increase Behavioral Complexity?
Why Increase Behavioral Complexity?
THE BEST CAT VIDEO YOU’LL EVER SEE [sic].
http://www.youtube.com/watch?v=20mrEtabOLM
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (4/36)

5. Motivation
Method
Results
Future Work
Conclusion
Karl Sims
Behavioral Complexity Since 1994
Why Increase Behavioral Complexity?
Why Increase Behavioral Complexity?
Heider, F. and Simmel, M. (1944). An experimental
study of apparent behavior. The American Journal
of Psychology, pages 243–259
Jones, C. (1965). The Dot and the Line
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (5/36)

6. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
EVC + ESP
Add three new components (ESP) to a basic EVC system:
Encapsulation
Syllabus
Pandemonium
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (6/36)

7. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Basic EVC System
Evolutionary algorithm
Encoding of morphology
Physical simulation
Initial render
Final render
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (7/36)

8. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Basic EVC System
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (8/36)

9. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Syllabus
1. forward locomotion
2. left turn
3. right turn
4. turn to light (using left turn and right turn)
5. move to light (using turn to light and forward locomotion)
6. strike
7. attack light (using move to light and strike)
8. turn from light (using left turn and right turn)
9. retreat from light (using turn from light and forward locomotion)
10. fight or flight (switching between attack light and retreat from light
based on external circumstances)
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (9/36)

10. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Syllabus
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (10/36)

11. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Encapsulation
Before encapsulation After encapsulation
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (11/36)

12. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Encapsulation
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (12/36)

13. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Encapsulation
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (13/36)

14. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Pandemonium
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (14/36)

15. Motivation
Method
Results
Future Work
Conclusion
EVC + ESP
Basic EVC System
Syllabus
Encapsulation
Pandemonium
Pandemonium
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (15/36)

16. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
Fight-or-Flight Syllabus
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (16/36)

17. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
forward locomotion
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (17/36)

18. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
left turn
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (18/36)

19. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
right turn
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (19/36)

20. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
turn to light
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (20/36)

21. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
move to light
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (21/36)

22. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
move to light
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (22/36)

23. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
strike
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (23/36)

24. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
strike
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (24/36)

25. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
attack
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (25/36)

26. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
turn from light
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (26/36)

27. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
turn from light
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (27/36)

28. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
retreat
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (28/36)

29. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
fight or flight
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (29/36)

30. Motivation
Method
Results
Future Work
Conclusion
Fight-or-Flight Syllabus
Individual Skills
fight or flight
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (30/36)

31. Motivation
Method
Results
Future Work
Conclusion
Relaxing Encapsulation
Muscles and Skin
Combat
Fauna on Demand
Relaxing Encapsulation
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (31/36)

32. Motivation
Method
Results
Future Work
Conclusion
Relaxing Encapsulation
Muscles and Skin
Combat
Fauna on Demand
Muscles and Skin
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (32/36)

33. Motivation
Method
Results
Future Work
Conclusion
Relaxing Encapsulation
Muscles and Skin
Combat
Fauna on Demand
Combat
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (33/36)

34. Motivation
Method
Results
Future Work
Conclusion
Relaxing Encapsulation
Muscles and Skin
Combat
Fauna on Demand
Fauna on Demand
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (34/36)

35. Motivation
Method
Results
Future Work
Conclusion
Conclusion
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (35/36)

36. Motivation
Method
Results
Future Work
Conclusion
Acknowledgements
NSF grants DBI-0939454 and IIS-0915038
Equipment donations from Intel’s Visual Computing Program
GECCO Student Travel Grant
BEACON Center for the Study of Evolution in Action
Dan Lessin, Don Fussell, Risto Miikkulainen Open-Ended Behavioral Complexity for EVCs (36/36)