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Title: Deep Innovation Protection

Paper content:
Evolutionary-based optimization approaches have recently shown promising results in domains such as Atari and robot locomotion but less so in solving 3D tasks directly from pixels.
This paper presents a method called Deep Innovation Protection (DIP) that allows training  complex world models end-to-end for such 3D environments.
The main idea behind the approach is to employ multiobjective optimization to temporally reduce the selection pressure on specific components in a world model, allowing other components to adapt.
We investigate the emergent representations of these evolved networks, which learn a model of the world without the need for a specific forward-prediction loss.
The ability of the brain to model the world arose from the process of evolution.
It evolved because it helped organisms to survive and strive in their particular environments and not because such forward prediction was explicitly optimized for.
In contrast to the emergent neural representations in nature, current world model approaches are often directly rewarded for their ability to predict future states of the environment (Schmidhuber, 1990; Ha & Schmidhuber, 2018; Hafner et al., 2018; Wayne et al., 2018) .
While it is undoubtedly useful to be able to explicitly encourage a model to predict what will happen next, in this paper we are interested in what type of representations can emerge from the less directed process of artificial evolution and what ingredients might be necessary to encourage the emergence of such predictive abilities.
In particular, we are building on the recently introduced world model architecture introduced by Ha & Schmidhuber (2018) .
This agent model contains three different components: (1) a visual module, mapping high-dimensional inputs to a lower-dimensional representative code, (2) an LSTM-based memory component, and (3) a controller component that takes input from the visual and memory module to determine the agent's next action.
In the original approach, each component of the world model was trained separately and to perform a different and specialised function, such as predicting the future.
While Risi & Stanley (2019) demonstrated that these models can also be trained end-to-end through a population-based genetic algorithm (GA) that exclusively optimizes for final performance, the approach was only applied to the simpler 2D car racing domain and it is an open question how such an approach will scale to the more complex 3D VizDoom task that first validated the effectiveness of the world model approach.
Here we show that a simple genetic algorithm fails to find a solution to solving the VizDoom task and ask the question what are the missing ingredients necessary to encourage the evolution of more powerful world models?
The main insight in this paper is that we can view the optimization of a heterogeneous neural network (such as world models) as a co-evolving system of multiple different sub-systems.
The other important insight is that representational innovations discovered in one subsystem (e.g. the visual system learns to track moving objects) require the other sub-systems to adapt.
In fact, if the other systems are not given time to adapt, such innovation will likely initially have an adversarial effect on overall performance!
In order to optimize such co-evolving heterogeneous neural systems, we propose to reduce the selection pressure on individuals whose visual or memory system was recently changed, given the controller component time to readapt.
This Deep Innovation Protection (DIP) approach is inspired by the recently introduced morphological innovation protection method of Cheney et al. (2018) , which allows for the scalable co-optimization of controllers and robot body plans.
Our approach is able to find a solution to the VizDoom: Take Cover task, which was first solved by the original world model approach (Ha & Schmidhuber, 2018) .
More interestingly, the emergent world models learned to predict events important for the survival of the agent, even though they were not explicitly trained to predict the future.
Additionally, our investigates into the training process show that DIP allows evolution to carefully orchestrate the training of the components in these heterogeneous architectures.
We hope this work inspires more research that focuses on investigating representations emerging from approaches that do not necessarily only rely on gradient-based optimization.
The paper demonstrated that a world model representation for a 3D task can emerge under the right circumstances without being explicitly rewarded for it.
To encourage this emergence, we introduced deep innovation protection, an approach that can dynamically reduce the selection pressure for different components in a heterogeneous neural architecture.
The main insight is that when components upstream in the neural network change, such as the visual or memory system in a world model, components downstream need time to adapt to changes in those learned representations.
The neural model learned to represent situations that require similar actions with similar latent and hidden codes ( Fig. 5 and 7) .
Additionally, without a specific forward-prediction loss, the agent learned to predict "useful" events that are necessary for its survival (e.g. predicting when the agent is in the line-of-fire of a fireball).
In the future it will be interesting to compare the differences and similarities of emergent representations and learning dynamics resulting from evolutionary and gradient descent-based optimization approaches (Raghu et al., 2017) .
Interestingly, without the need for a variety of specialized learning methods employed in the original world model paper, a simple genetic algorithm augmented with DIP can not only solve the simpler 2D car racing domain (Risi & Stanley, 2019) , but also more complex 3D domains such as VizDoom.
That the average score across 100 random rollouts is lower when compared to the one reported in the original world model paper (824 compared to 1092) is maybe not surprising; if random rollouts are available, training each component separately can results in a higher performance.
However, in more complicated domains, in which random rollouts might not be able to provide all relevant experiences (e.g. a random policy might never reach a certain level), the proposed DIP approach could become increasingly relevant.
An exciting future direction is to combine the end-to-end training regimen of DIP with the ability of training inside the world model itself (Ha & Schmidhuber, 2018) .
However, because the evolved representation is not directly optimized to predict the next time step and only learns to predict future events that are useful for the agent's survival, it is an interesting open question how such a different version of a hallucinate environment could be used for training.
A natural extension to this work is to evolve the neural architectures in addition to the weights of the network.
Searching for neural architectures in RL has previously only been applied to smaller networks (Risi & Stanley, 2012; Stanley & Miikkulainen, 2002; Gaier & Ha, 2019; Risi & Togelius, 2017; Floreano et al., 2008) but could potentially now be scaled to more complex tasks.
While our innovation protection approach is based on evolution, ideas presented here could also be incorporated in gradient descent-based approaches that optimize neural systems with multiple interacting components end-to-end.

assistant: text: Deep Innovation Protection allows evolving complex world models end-to-end for 3D tasks.