Evolving scalable and modular adaptive networks with Developmental Symbolic Encoding

Evolutionary neural networks, or neuroevolution, appear to be a promising way to build versatile adaptive systems, combining evolution and learning. One of the most challenging problems of neuroevolution is finding a scalable and robust genetic representation, which would allow to effectively grow increasingly complex networks for increasingly complex tasks. In this paper we propose a novel developmental encoding for networks, featuring scalability, modularity, regularity and hierarchy. The encoding allows to represent structural regularities of networks and build them from encapsulated and possibly reused subnetworks. These capabilities are demonstrated on several test problems. In particular for parity and symmetry problems we evolve solutions, which are fully general with respect to the number of inputs. We also evolve scalable and modular weightless recurrent networks capable of autonomous learning in a simple generic classification task. The encoding is very flexible and we demonstrate this by evolving networks capable of learning via neuromodulation. Finally, we evolve modular solutions to the retina problem, for which another well known neuroevolution method-HyperNEAT-was previously shown to fail. The proposed encoding outperformed HyperNEAT and Cellular Encoding also in another experiment, in which certain connectivity patterns must be discovered between layers. Therefore we conclude the proposed encoding is an interesting and competitive approach to evolve networks.