34,790 research outputs found
Experimental Comparisons of Derivative Free Optimization Algorithms
In this paper, the performances of the quasi-Newton BFGS algorithm, the
NEWUOA derivative free optimizer, the Covariance Matrix Adaptation Evolution
Strategy (CMA-ES), the Differential Evolution (DE) algorithm and Particle Swarm
Optimizers (PSO) are compared experimentally on benchmark functions reflecting
important challenges encountered in real-world optimization problems.
Dependence of the performances in the conditioning of the problem and
rotational invariance of the algorithms are in particular investigated.Comment: 8th International Symposium on Experimental Algorithms, Dortmund :
Germany (2009
A hybrid swarm-based algorithm for single-objective optimization problems involving high-cost analyses
In many technical fields, single-objective optimization procedures in
continuous domains involve expensive numerical simulations. In this context, an
improvement of the Artificial Bee Colony (ABC) algorithm, called the Artificial
super-Bee enhanced Colony (AsBeC), is presented. AsBeC is designed to provide
fast convergence speed, high solution accuracy and robust performance over a
wide range of problems. It implements enhancements of the ABC structure and
hybridizations with interpolation strategies. The latter are inspired by the
quadratic trust region approach for local investigation and by an efficient
global optimizer for separable problems. Each modification and their combined
effects are studied with appropriate metrics on a numerical benchmark, which is
also used for comparing AsBeC with some effective ABC variants and other
derivative-free algorithms. In addition, the presented algorithm is validated
on two recent benchmarks adopted for competitions in international conferences.
Results show remarkable competitiveness and robustness for AsBeC.Comment: 19 pages, 4 figures, Springer Swarm Intelligenc
Query Complexity of Derivative-Free Optimization
This paper provides lower bounds on the convergence rate of Derivative Free
Optimization (DFO) with noisy function evaluations, exposing a fundamental and
unavoidable gap between the performance of algorithms with access to gradients
and those with access to only function evaluations. However, there are
situations in which DFO is unavoidable, and for such situations we propose a
new DFO algorithm that is proved to be near optimal for the class of strongly
convex objective functions. A distinctive feature of the algorithm is that it
uses only Boolean-valued function comparisons, rather than function
evaluations. This makes the algorithm useful in an even wider range of
applications, such as optimization based on paired comparisons from human
subjects, for example. We also show that regardless of whether DFO is based on
noisy function evaluations or Boolean-valued function comparisons, the
convergence rate is the same
Trajectory Synthesis for Fisher Information Maximization
Estimation of model parameters in a dynamic system can be significantly
improved with the choice of experimental trajectory. For general, nonlinear
dynamic systems, finding globally "best" trajectories is typically not
feasible; however, given an initial estimate of the model parameters and an
initial trajectory, we present a continuous-time optimization method that
produces a locally optimal trajectory for parameter estimation in the presence
of measurement noise. The optimization algorithm is formulated to find system
trajectories that improve a norm on the Fisher information matrix. A
double-pendulum cart apparatus is used to numerically and experimentally
validate this technique. In simulation, the optimized trajectory increases the
minimum eigenvalue of the Fisher information matrix by three orders of
magnitude compared to the initial trajectory. Experimental results show that
this optimized trajectory translates to an order of magnitude improvement in
the parameter estimate error in practice.Comment: 12 page
Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning
Reinforcement learning (RL) algorithms for real-world robotic applications
need a data-efficient learning process and the ability to handle complex,
unknown dynamical systems. These requirements are handled well by model-based
and model-free RL approaches, respectively. In this work, we aim to combine the
advantages of these two types of methods in a principled manner. By focusing on
time-varying linear-Gaussian policies, we enable a model-based algorithm based
on the linear quadratic regulator (LQR) that can be integrated into the
model-free framework of path integral policy improvement (PI2). We can further
combine our method with guided policy search (GPS) to train arbitrary
parameterized policies such as deep neural networks. Our simulation and
real-world experiments demonstrate that this method can solve challenging
manipulation tasks with comparable or better performance than model-free
methods while maintaining the sample efficiency of model-based methods. A video
presenting our results is available at
https://sites.google.com/site/icml17pilqrComment: Paper accepted to the International Conference on Machine Learning
(ICML) 201
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