This work evaluates the direct transfer of a co-evolved communication protocol from a 2D simulation to a 3D physical environment, without retraining the network weights. Two e-puck-type robots, controlled by a GRU network with residual connection, were evaluated in a food-seeking task with social signaling. The sensory and motor translation layer required three corrections for stable physical operation, including the calibration of a hunger term based on a measurable asymmetry in the trained residual weights. Even with these corrections, the transfer was partial and asymmetric: one agent reached the food source in one of thirty tested seeds, while the other did not reach it in any. Task success was measured by both agents reaching the food area. An additional experiment incorporating explicit directional information in the social channel produced observable changes in the trajectory of the receiving agent and improvements in several specific cases. However, these improvements were not enough to allow the second agent to reach the food source, suggesting that the limitation may not be explained solely by signal translation, but also by the ability to navigate under the new physical constraints. The results suggest that successful transfer of emergent communication may depend not only on preserving the signaling process itself, but also on preserving the ecological and navigational conditions under which the protocol evolved.
Communication is typically understood as indication: signals that transfer information from sender to receiver. We present a minimal predator avoidance task in which pairs of evolved CTRNN agents use communication for robust survival, and in which agents hear their own vocalizations, as in natural systems. Across 112 perfect-fitness agents from over 2,000 evolutionary runs, three dominant strategies emerge (accounting for 81% of agents): safety calling (39%), where agents signal from safe cover; alarm indication (22%), where agents vocalize when a threat is present without relying on self-hearing; and self-regulatory calling (20%), where agents depend on hearing their own call to sustain escape behavior. Self-hearing dependency is common among agents that call during an active threat (47%), but rare among agents that call only after reaching safe cover (10%; p < 10^-4). This pattern is consistent with a difference in causal order: safety callers act then communicate, while self-regulatory callers communicate in order to act. Removing self-hearing selectively impairs self-regulatory callers (fitness 0.40) while safety callers remain functional (0.90; p < 10^-9). These results show that communication can evolve to serve the caller's own behavioral regulation, not just information transfer to others.
Assistive autonomous robots operating in multi-agent environments require efficient strategies to locate specific individuals among multiple residents. Current social navigation methods focus on reactive collision avoidance and trajectory adaptation, but lack mechanisms to proactively gather information through human-robot communication. We introduce Communication-enabled Social Navigation (CommNav). In this novel task, robotic agents actively seek assistance from residents to locate target individuals by requesting information about recent sightings, locations, and movements. To evaluate CommNav, we extend Habitat 3.0 to create Habitat 3.0c, a communication-enabled variant supporting multi-human environments with information exchange protocols. Adding our communication module (COMM) to a state-of-the-art social navigation model yields a 10 percentage-point improvement in Episode Success. We further investigate the transition from structured data to natural language by evaluating models trained on LLM-generated instructions and on colloquial instructions collected from a human study. Our experiments reveal that: (i) explicit human-robot communication substantially enhances multi-person navigation performance; (ii) pre-training COMM on a communication pretext task effectively addresses the challenge of occasional interaction signals; and (iii) the navigation policy is highly robust to natural, colloquial human language, achieving an episode success statistically similar to the model using perfect structured data.
Robotic hardware evolves over time, but demonstration data is often tied to a specific sensor and actuator configuration. This raises a practical and underexplored question: when does legacy data begin to benefit an upgraded robot? We study this question on a wheeled humanoid platform across two hardware generations, where both the camera and gripper are changed while the overall morphology remains fixed. Contrary to the common assumption that more cross-configuration data is always helpful, we observe a grokking-like transition: legacy data remains ineffective until the upgraded configuration acquires a minimum level of task competence, after which co-training gains rise sharply before diminishing near saturation. We hypothesize that this task-dependent transition is governed by a transfer threshold and characterize the resulting three-phase pattern. Across real-robot manipulation tasks, we observe all three phases: no measurable benefit at low competence (10.0%→10.0%), a sharp gain after crossing the threshold (23.3%→86.7% on flower insertion), and diminishing returns at high competence (85.0%→93.3% on pen insertion). We provide a theoretical account based on gradient alignment and residual policy uncertainty, and derive a phase-aware rule for deciding when to collect more new-hardware data and when to reuse legacy demonstrations. We further validate this three-phase pattern on a mobile dual-arm watering task, with results consistent with our predictions.
Tao Wang, Hudson Hou, Yingdong Hu +7
Huazhong University of Science and Technology · Spirit AI · Peking University +3