74 research outputs found

    Turing Learning: Advances and Applications

    Get PDF
    Turing Learning is the family of algorithms where models and discriminators are generated in a competitive setting. This thesis concerns the coevolutionary framework of Turing Learning and investigates the advances for improved model accuracy and the applications in robotic systems. Advances proposed in this thesis are as follows: an interactive approach to enable the discriminator to genuinely influence the data sampling process; a hybrid formulation to combine the benefits of the interactive discriminator in improving model accuracy and the advantages of the passive discriminator for reducing training cost; an exclusiveness reward mechanism to promote candidates with the exclusive performance during the coevolutionary process. Applications presented in this thesis are as follows: an approach for a mobile robotic agent to automatically infer its sensor configuration; an approach for the robot agent to automatically calibrate its sensor reading; a novel approach to infer swarm behaviours from their effects on the environment. The interactive approach has been validated in the inference of sensor configuration and calibration model, leading to the self-modelling/self-discovery process of robotic agents. Results suggest an improved model accuracy with the interactive approach in both cases, compared with the passive approach. The hybrid formulation and the exclusiveness reward mechanism have been demonstrated in the inference of the calibration model. Results show that almost half of the training cost can be reduced without a decrease in model accuracy by applying the hybrid formulation. The novel reward mechanism can accelerate the convergence without a decrease in model accuracy. The indirect way of inferring swarm behaviours requires a small amount of training and reveals novel behavioural controllers for individual robots

    Evolutionary Design of Game Vehicles and Their Controllers

    Get PDF
    Procedural content generation (PCG) is a growing field of interest in the domain of computational intelligence as it relates to games. There are ever increasing examples and applications of PCG that have been studied in academic contexts. Player expectations of the amount of content in games increase as computers and video game consoles are capable of using more content, and automation of content creation becomes more desirable. While many means of procedural content generation using some form of search algorithm have been tried and tested, we examine evolutionary algorithms as a means to generate content, where it has not frequently been used before. We examine the generation of vehicles, specifically spaceships, within two dimensional game simulations. These simulations are based upon a simple Newtonian physics system with different physical rules, representing games such as Lunar Lander or Asteroids, and evolve linear vectors of real numbers that act as vehicle genotypes by encoding placement of components to a vehicle point mass, with a form defined by the placement of each component. We use simple 1-ply lookahead controllers, simple rule-based controllers, and MCTS-based controllers as means to test and therefore indirectly guide the evolution of vehicle designs. We are able to demonstrate that evolutionary algorithms can be used to generate effective vehicle designs, suitable for use by the same controller as used for testing, for simple tasks without much issue. We also show that there are some factors of a problem environment that impact the demands and the conditions affecting vehicle design evolution more than others, such as velocity loss factors and the topology of the game world used. It is also evident that the use of different controllers to test vehicles causes different designs to emerge based on the strengths of said controllers

    Neuroevolution in Games: State of the Art and Open Challenges

    Get PDF
    This paper surveys research on applying neuroevolution (NE) to games. In neuroevolution, artificial neural networks are trained through evolutionary algorithms, taking inspiration from the way biological brains evolved. We analyse the application of NE in games along five different axes, which are the role NE is chosen to play in a game, the different types of neural networks used, the way these networks are evolved, how the fitness is determined and what type of input the network receives. The article also highlights important open research challenges in the field.Comment: - Added more references - Corrected typos - Added an overview table (Table 1

    Treasure hunt : a framework for cooperative, distributed parallel optimization

    Get PDF
    Orientador: Prof. Dr. Daniel WeingaertnerCoorientadora: Profa. Dra. Myriam Regattieri DelgadoTese (doutorado) - Universidade Federal do Paraná, Setor de Ciências Exatas, Programa de Pós-Graduação em Informática. Defesa : Curitiba, 27/05/2019Inclui referências: p. 18-20Área de concentração: Ciência da ComputaçãoResumo: Este trabalho propõe um framework multinível chamado Treasure Hunt, que é capaz de distribuir algoritmos de busca independentes para um grande número de nós de processamento. Com o objetivo de obter uma convergência conjunta entre os nós, este framework propõe um mecanismo de direcionamento que controla suavemente a cooperação entre múltiplas instâncias independentes do Treasure Hunt. A topologia em árvore proposta pelo Treasure Hunt garante a rápida propagação da informação pelos nós, ao mesmo tempo em que provê simutaneamente explorações (pelos nós-pai) e intensificações (pelos nós-filho), em vários níveis de granularidade, independentemente do número de nós na árvore. O Treasure Hunt tem boa tolerância à falhas e está parcialmente preparado para uma total tolerância à falhas. Como parte dos métodos desenvolvidos durante este trabalho, um método automatizado de Particionamento Iterativo foi proposto para controlar o balanceamento entre explorações e intensificações ao longo da busca. Uma Modelagem de Estabilização de Convergência para operar em modo Online também foi proposto, com o objetivo de encontrar pontos de parada com bom custo/benefício para os algoritmos de otimização que executam dentro das instâncias do Treasure Hunt. Experimentos em benchmarks clássicos, aleatórios e de competição, de vários tamanhos e complexidades, usando os algoritmos de busca PSO, DE e CCPSO2, mostram que o Treasure Hunt melhora as características inerentes destes algoritmos de busca. O Treasure Hunt faz com que os algoritmos de baixa performance se tornem comparáveis aos de boa performance, e os algoritmos de boa performance possam estender seus limites até problemas maiores. Experimentos distribuindo instâncias do Treasure Hunt, em uma rede cooperativa de até 160 processos, demonstram a escalabilidade robusta do framework, apresentando melhoras nos resultados mesmo quando o tempo de processamento é fixado (wall-clock) para todas as instâncias distribuídas do Treasure Hunt. Resultados demonstram que o mecanismo de amostragem fornecido pelo Treasure Hunt, aliado à maior cooperação entre as múltiplas populações em evolução, reduzem a necessidade de grandes populações e de algoritmos de busca complexos. Isto é especialmente importante em problemas de mundo real que possuem funções de fitness muito custosas. Palavras-chave: Inteligência artificial. Métodos de otimização. Algoritmos distribuídos. Modelagem de convergência. Alta dimensionalidade.Abstract: This work proposes a multilevel framework called Treasure Hunt, which is capable of distributing independent search algorithms to a large number of processing nodes. Aiming to obtain joint convergences between working nodes, Treasure Hunt proposes a driving mechanism that smoothly controls the cooperation between the multiple independent Treasure Hunt instances. The tree topology proposed by Treasure Hunt ensures quick propagation of information, while providing simultaneous explorations (by parents) and exploitations (by children), on several levels of granularity, regardless the number of nodes in the tree. Treasure Hunt has good fault tolerance and is partially prepared to full fault tolerance. As part of the methods developed during this work, an automated Iterative Partitioning method is proposed to control the balance between exploration and exploitation as the search progress. A Convergence Stabilization Modeling to operate in Online mode is also proposed, aiming to find good cost/benefit stopping points for the optimization algorithms running within the Treasure Hunt instances. Experiments on classic, random and competition benchmarks of various sizes and complexities, using the search algorithms PSO, DE and CCPSO2, show that Treasure Hunt boosts the inherent characteristics of these search algorithms. Treasure Hunt makes algorithms with poor performances to become comparable to good ones, and algorithms with good performances to be capable of extending their limits to larger problems. Experiments distributing Treasure Hunt instances in a cooperative network up to 160 processes show the robust scaling of the framework, presenting improved results even when fixing a wall-clock time for the instances. Results show that the sampling mechanism provided by Treasure Hunt, allied to the increased cooperation between multiple evolving populations, reduce the need for large population sizes and complex search algorithms. This is specially important on real-world problems with time-consuming fitness functions. Keywords: Artificial intelligence. Optimization methods. Distributed algorithms. Convergence modeling. High dimensionality

    Coevolutionary algorithms for the optimization of strategies for red teaming applications

    Get PDF
    Red teaming (RT) is a process that assists an organization in finding vulnerabilities in a system whereby the organization itself takes on the role of an “attacker” to test the system. It is used in various domains including military operations. Traditionally, it is a manual process with some obvious weaknesses: it is expensive, time-consuming, and limited from the perspective of humans “thinking inside the box”. Automated RT is an approach that has the potential to overcome these weaknesses. In this approach both the red team (enemy forces) and blue team (friendly forces) are modelled as intelligent agents in a multi-agent system and the idea is to run many computer simulations, pitting the plan of the red team against the plan of blue team. This research project investigated techniques that can support automated red teaming by conducting a systematic study involving a genetic algorithm (GA), a basic coevolutionary algorithm and three variants of the coevolutionary algorithm. An initial pilot study involving the GA showed some limitations, as GAs only support the optimization of a single population at a time against a fixed strategy. However, in red teaming it is not sufficient to consider just one, or even a few, opponent‟s strategies as, in reality, each team needs to adjust their strategy to account for different strategies that competing teams may utilize at different points. Coevolutionary algorithms (CEAs) were identified as suitable algorithms which were capable of optimizing two teams simultaneously for red teaming. The subsequent investigation of CEAs examined their performance in addressing the characteristics of red teaming problems, such as intransitivity relationships and multimodality, before employing them to optimize two red teaming scenarios. A number of measures were used to evaluate the performance of CEAs and in terms of multimodality, this study introduced a novel n-peak problem and a new performance measure based on the Circular Earth Movers‟ Distance. Results from the investigations involving an intransitive number problem, multimodal problem and two red teaming scenarios showed that in terms of the performance measures used, there is not a single algorithm that consistently outperforms the others across the four test problems. Applications of CEAs on the red teaming scenarios showed that all four variants produced interesting evolved strategies at the end of the optimization process, as well as providing evidence of the potential of CEAs in their future application in red teaming. The developed techniques can potentially be used for red teaming in military operations or analysis for protection of critical infrastructure. The benefits include the modelling of more realistic interactions between the teams, the ability to anticipate and to counteract potentially new types of attacks as well as providing a cost effective solution
    corecore