Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

Self-adaptive exploration in evolutionary search

We address a primary question of computational as well as biological research on evolution: How can an exploration strategy adapt in such a way as to exploit the information gained about the problem at hand? We first introduce an integrated formalism of evolutionary search which provides a unified view on different specific approaches. On this basis we discuss the implications of indirect modeling (via a ``genotype-phenotype mapping'') on the exploration strategy. Notions such as modularity, pleiotropy and functional phenotypic complex are discussed as implications. Then, rigorously reflecting the notion of self-adaptability, we introduce a new definition that captures self-adaptability of exploration: different genotypes that map to the same phenotype may represent (also topologically) different exploration strategies; self-adaptability requires a variation of exploration strategies along such a ``neutral space''. By this definition, the concept of neutrality becomes a central concern of this paper. Finally, we present examples of these concepts: For a specific grammar-type encoding, we observe a large variability of exploration strategies for a fixed phenotype, and a self-adaptive drift towards short representations with highly structured exploration strategy that matches the ``problem's structure''.Comment: 24 pages, 5 figure

Thermostat-assisted continuously-tempered Hamiltonian Monte Carlo for Bayesian learning

We propose a new sampling method, the thermostat-assisted continuously-tempered Hamiltonian Monte Carlo, for Bayesian learning on large datasets and multimodal distributions. It simulates the Nos\'e-Hoover dynamics of a continuously-tempered Hamiltonian system built on the distribution of interest. A significant advantage of this method is that it is not only able to efficiently draw representative i.i.d. samples when the distribution contains multiple isolated modes, but capable of adaptively neutralising the noise arising from mini-batches and maintaining accurate sampling. While the properties of this method have been studied using synthetic distributions, experiments on three real datasets also demonstrated the gain of performance over several strong baselines with various types of neural networks plunged in

A genetic-algorithms based evolutionary computational neural network for modelling spatial interaction data

Building a feedforward computational neural network model (CNN) involves two distinct tasks: determination of the network topology and weight estimation. The specification of a problem adequate network topology is a key issue and the primary focus of this contribution. Up to now, this issue has been either completely neglected in spatial application domains, or tackled by search heuristics (see Fischer and Gopal 1994). With the view of modelling interactions over geographic space, this paper considers this problem as a global optimization problem and proposes a novel approach that embeds backpropagation learning into the evolutionary paradigm of genetic algorithms. This is accomplished by interweaving a genetic search for finding an optimal CNN topology with gradient-based backpropagation learning for determining the network parameters. Thus, the model builder will be relieved of the burden of identifying appropriate CNN-topologies that will allow a problem to be solved with simple, but powerful learning mechanisms, such as backpropagation of gradient descent errors. The approach has been applied to the family of three inputs, single hidden layer, single output feedforward CNN models using interregional telecommunication traffic data for Austria, to illustrate its performance and to evaluate its robustness.