Neural Cellular Automata (NCAs) offer a way to study the growth of two-dimensional artificial organisms from a single seed cell. From the outset, NCA-grown organisms have had issues with stability, their natural boundary often breaking down and exhibiting tumour-like growth or failing to maintain the expected shape. In this paper, we present a method for improving the stability of NCA-grown organisms by introducing an 'identity' layer with simple constraints during training. Results show that NCAs grown in close proximity are more stable compared with the original NCA model. Moreover, only a single identity value is required to achieve this increase in stability. We observe emergent movement from the stable organisms, with increasing prevalence for models with multiple identity values. This work lays the foundation for further study of the interaction between NCA-grown organisms, paving the way for studying social interaction at a cellular level in artificial organisms. Code/Videos available at: https://github.com/jstovold/ALIFE2025

This study introduces EngramNCA, a neural cellular automaton (NCA) that integrates both publicly visible states and private, cell-internal memory channels, drawing inspiration from emerging biological evidence suggesting that memory storage extends beyond synaptic modifications to include intracellular mechanisms. The proposed model comprises two components: GeneCA, an NCA trained to develop distinct morphologies from seed cells containing immutable "gene" encodings, and GenePropCA, an auxiliary NCA that modulates the private "genetic" memory of cells without altering their visible states. This architecture enables the encoding and propagation of complex morphologies through the interaction of visible and private channels, facilitating the growth of diverse structures from a shared "genetic" substrate. EngramNCA supports the emergence of hierarchical and coexisting morphologies, offering insights into decentralized memory storage and transfer in artificial systems. These findings have potential implications for the development of adaptive, self-organizing systems and may contribute to the broader understanding of memory mechanisms in both biological and synthetic contexts. Data/Code: A web version of this article with videos is available here, while the Github repository is available here and the code is available on Colab here. Images that represent videos are hyperlinked to their respective video in the web version.

Neural Cellular Automata (NCAs) are a model of morphogenesis, capable of growing two-dimensional artificial organisms from a single seed cell. In this paper, we show that NCAs can be trained to respond to signals. Two types of signal are used: internal (genomically-coded) signals, and external (environmental) signals. Signals are presented to a single pixel for a single timestep. Results show NCAs are able to grow into multiple distinct forms based on internal signals, and are able to change colour based on external signals. Overall these contribute to the development of NCAs as a model of artificial morphogenesis, and pave the way for future developments embedding dynamic behaviour into the NCA model. Code and target images are available through GitHub: https://github.com/jstovold/ALIFE2023

The field of multi-robot coordination, specifically robot formation control, is rapidly expanding, with many applications proposed. In our previous work, we considered the problem of establishing and maintaining a formation of robots given an already connected network. We now propose a distributed auction-based method to autonomously initialize and reorganize the network structure of a formation of robots.

As a robot formation increases in size or explores places where it is difficult for a human operator to interact, autonomous control becomes critical. We propose a distributed autonomous method for evaluating properties of multi-robot systems, and then discuss how this information can be applied to improve performance with respect to a given operation. We present this as an extension of our previous work on robot formations; however, the techniques described could be adapted to other multi-robot systems.