Deep Neuroevolution of Recurrent and Discrete World Models

Neural architectures inspired by our own human cognitive system, such as the recently introduced world models, have been shown to outperform traditional deep reinforcement learning (RL) methods in a variety of different domains. Instead of the relatively simple architectures employed in most RL experiments, world models rely on multiple different neural components that are responsible for visual information processing, memory, and decision-making. However, so far the components of these models have to be trained separately and through a variety of specialized training methods. This paper demonstrates the surprising finding that models with the same precise parts can be instead efficiently trained end-to-end through a genetic algorithm (GA), reaching a comparable performance to the original world model by solving a challenging car racing task. An analysis of the evolved visual and memory system indicates that they include a similar effective representation to the system trained through gradient descent. Additionally, in contrast to gradient descent methods that struggle with discrete variables, GAs also work directly with such representations, opening up opportunities for classical planning in latent space. This paper adds additional evidence on the effectiveness of deep neuroevolution for tasks that require the intricate orchestration of multiple components in complex heterogeneous architectures

Hierarchical Deep Learning Architecture For 10K Objects Classification

Evolution of visual object recognition architectures based on Convolutional Neural Networks & Convolutional Deep Belief Networks paradigms has revolutionized artificial Vision Science. These architectures extract & learn the real world hierarchical visual features utilizing supervised & unsupervised learning approaches respectively. Both the approaches yet cannot scale up realistically to provide recognition for a very large number of objects as high as 10K. We propose a two level hierarchical deep learning architecture inspired by divide & conquer principle that decomposes the large scale recognition architecture into root & leaf level model architectures. Each of the root & leaf level models is trained exclusively to provide superior results than possible by any 1-level deep learning architecture prevalent today. The proposed architecture classifies objects in two steps. In the first step the root level model classifies the object in a high level category. In the second step, the leaf level recognition model for the recognized high level category is selected among all the leaf models. This leaf level model is presented with the same input object image which classifies it in a specific category. Also we propose a blend of leaf level models trained with either supervised or unsupervised learning approaches. Unsupervised learning is suitable whenever labelled data is scarce for the specific leaf level models. Currently the training of leaf level models is in progress; where we have trained 25 out of the total 47 leaf level models as of now. We have trained the leaf models with the best case top-5 error rate of 3.2% on the validation data set for the particular leaf models. Also we demonstrate that the validation error of the leaf level models saturates towards the above mentioned accuracy as the number of epochs are increased to more than sixty.Comment: As appeared in proceedings for CS & IT 2015 - Second International Conference on Computer Science & Engineering (CSEN 2015

A statistical learning based approach for parameter fine-tuning of metaheuristics

Metaheuristics are approximation methods used to solve combinatorial optimization problems. Their performance usually depends on a set of parameters that need to be adjusted. The selection of appropriate parameter values causes a loss of efficiency, as it requires time, and advanced analytical and problem-specific skills. This paper provides an overview of the principal approaches to tackle the Parameter Setting Problem, focusing on the statistical procedures employed so far by the scientific community. In addition, a novel methodology is proposed, which is tested using an already existing algorithm for solving the Multi-Depot Vehicle Routing Problem.Peer ReviewedPostprint (published version

Automatic Document Image Binarization using Bayesian Optimization

Document image binarization is often a challenging task due to various forms of degradation. Although there exist several binarization techniques in literature, the binarized image is typically sensitive to control parameter settings of the employed technique. This paper presents an automatic document image binarization algorithm to segment the text from heavily degraded document images. The proposed technique uses a two band-pass filtering approach for background noise removal, and Bayesian optimization for automatic hyperparameter selection for optimal results. The effectiveness of the proposed binarization technique is empirically demonstrated on the Document Image Binarization Competition (DIBCO) and the Handwritten Document Image Binarization Competition (H-DIBCO) datasets

Efficient Benchmarking of Algorithm Configuration Procedures via Model-Based Surrogates

The optimization of algorithm (hyper-)parameters is crucial for achieving peak performance across a wide range of domains, ranging from deep neural networks to solvers for hard combinatorial problems. The resulting algorithm configuration (AC) problem has attracted much attention from the machine learning community. However, the proper evaluation of new AC procedures is hindered by two key hurdles. First, AC benchmarks are hard to set up. Second and even more significantly, they are computationally expensive: a single run of an AC procedure involves many costly runs of the target algorithm whose performance is to be optimized in a given AC benchmark scenario. One common workaround is to optimize cheap-to-evaluate artificial benchmark functions (e.g., Branin) instead of actual algorithms; however, these have different properties than realistic AC problems. Here, we propose an alternative benchmarking approach that is similarly cheap to evaluate but much closer to the original AC problem: replacing expensive benchmarks by surrogate benchmarks constructed from AC benchmarks. These surrogate benchmarks approximate the response surface corresponding to true target algorithm performance using a regression model, and the original and surrogate benchmark share the same (hyper-)parameter space. In our experiments, we construct and evaluate surrogate benchmarks for hyperparameter optimization as well as for AC problems that involve performance optimization of solvers for hard combinatorial problems, drawing training data from the runs of existing AC procedures. We show that our surrogate benchmarks capture overall important characteristics of the AC scenarios, such as high- and low-performing regions, from which they were derived, while being much easier to use and orders of magnitude cheaper to evaluate

Champion-level drone racing using deep reinforcement learning

First-person view (FPV) drone racing is a televised sport in which professional competitors pilot high-speed aircraft through a 3D circuit. Each pilot sees the environment from the perspective of their drone by means of video streamed from an onboard camera. Reaching the level of professional pilots with an autonomous drone is challenging because the robot needs to fly at its physical limits while estimating its speed and location in the circuit exclusively from onboard sensors. Here we introduce Swift, an autonomous system that can race physical vehicles at the level of the human world champions. The system combines deep reinforcement learning (RL) in simulation with data collected in the physical world. Swift competed against three human champions, including the world champions of two international leagues, in real-world head-to-head races. Swift won several races against each of the human champions and demonstrated the fastest recorded race time. This work represents a milestone for mobile robotics and machine intelligence, which may inspire the deployment of hybrid learning-based solutions in other physical systems

Fast Cross-Validation via Sequential Testing

With the increasing size of today's data sets, finding the right parameter configuration in model selection via cross-validation can be an extremely time-consuming task. In this paper we propose an improved cross-validation procedure which uses nonparametric testing coupled with sequential analysis to determine the best parameter set on linearly increasing subsets of the data. By eliminating underperforming candidates quickly and keeping promising candidates as long as possible, the method speeds up the computation while preserving the capability of the full cross-validation. Theoretical considerations underline the statistical power of our procedure. The experimental evaluation shows that our method reduces the computation time by a factor of up to 120 compared to a full cross-validation with a negligible impact on the accuracy