Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or NEAT paradigm offers a powerful alternative by allowing the network topology and the connection weights to be simultaneously optimized through an evolutionary process. However, most NEAT implementations allow the consideration of only a single objective. There also persists the question of how to tractably introduce topological diversification that mitigates overfitting to training scenarios. To address these gaps, this paper develops a multi-objective neuro-evolution algorithm. While adopting the basic elements of NEAT, important modifications are made to the selection, speciation, and mutation processes. With the backdrop of small-robot path-planning applications, an experience-gain criterion is derived to encapsulate the amount of diverse local environment encountered by the system. This criterion facilitates the evolution of genes that support exploration, thereby seeking to generalize from a smaller set of mission scenarios than possible with performance maximization alone. The effectiveness of the single-objective (optimizing performance) and the multi-objective (optimizing performance and experience-gain) neuro-evolution approaches are evaluated on two different small-robot cases, with ANNs obtained by the multi-objective optimization observed to provide superior performance in unseen scenarios

Complex Networks

Introduction to the Special Issue on Complex Networks, Artificial Life journal.Comment: 7 pages, in pres

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.

Clustering by compression

We present a new method for clustering based on compression. The method doesn't use subject-specific features or background knowledge, and works as follows: First, we determine a universal similarity distance, the normalized compression distance or NCD, computed from the lengths of compressed data files (singly and in pairwise concatenation). Second, we apply a hierarchical clustering method. The NCD is universal in that it is not restricted to a specific application area, and works across application area boundaries. A theoretical precursor, the normalized information distance, co-developed by one of the authors, is provably optimal but uses the non-computable notion of Kolmogorov complexity. We propose precise notions of similarity metric, normal compressor, and show that the NCD based on a normal compressor is a similarity metric that approximates universality. To extract a hierarchy of clusters from the distance matrix, we determine a dendrogram (binary tree) by a new quartet method and a fast heuristic to implement it. The method is implemented and available as public software, and is robust under choice of different compressors. To substantiate our claims of universality and robustness, we report evidence of successful application in areas as diverse as genomics, virology, languages, literature, music, handwritten digits, astronomy, and combinations of objects from completely different domains, using statistical, dictionary, and block sorting compressors. In genomics we presented new evidence for major questions in Mammalian evolution, based on whole-mitochondrial genomic analysis: the Eutherian orders and the Marsupionta hypothesis against the Theria hypothesis.Comment: LaTeX, 27 pages, 20 figure