A Genetic Programming Approach to Designing Convolutional Neural Network Architectures

The convolutional neural network (CNN), which is one of the deep learning models, has seen much success in a variety of computer vision tasks. However, designing CNN architectures still requires expert knowledge and a lot of trial and error. In this paper, we attempt to automatically construct CNN architectures for an image classification task based on Cartesian genetic programming (CGP). In our method, we adopt highly functional modules, such as convolutional blocks and tensor concatenation, as the node functions in CGP. The CNN structure and connectivity represented by the CGP encoding method are optimized to maximize the validation accuracy. To evaluate the proposed method, we constructed a CNN architecture for the image classification task with the CIFAR-10 dataset. The experimental result shows that the proposed method can be used to automatically find the competitive CNN architecture compared with state-of-the-art models.Comment: This is the revised version of the GECCO 2017 paper. The code of our method is available at https://github.com/sg-nm/cgp-cn

Limited Evaluation Cooperative Co-evolutionary Differential Evolution for Large-scale Neuroevolution

Many real-world control and classification tasks involve a large number of features. When artificial neural networks (ANNs) are used for modeling these tasks, the network architectures tend to be large. Neuroevolution is an effective approach for optimizing ANNs; however, there are two bottlenecks that make their application challenging in case of high-dimensional networks using direct encoding. First, classic evolutionary algorithms tend not to scale well for searching large parameter spaces; second, the network evaluation over a large number of training instances is in general time-consuming. In this work, we propose an approach called the Limited Evaluation Cooperative Co-evolutionary Differential Evolution algorithm (LECCDE) to optimize high-dimensional ANNs. The proposed method aims to optimize the pre-synaptic weights of each post-synaptic neuron in different subpopulations using a Cooperative Co-evolutionary Differential Evolution algorithm, and employs a limited evaluation scheme where fitness evaluation is performed on a relatively small number of training instances based on fitness inheritance. We test LECCDE on three datasets with various sizes, and our results show that cooperative co-evolution significantly improves the test error comparing to standard Differential Evolution, while the limited evaluation scheme facilitates a significant reduction in computing time

Neuroevolutional Methods for Decision Support Under Uncertainty

The article presents a comparative analysis of the fundamental neuroevolutional methods, which are widely applied for the intellectualization of the decision making support systems under uncertainty. Based on this analysis the new neuroevolutionary method is introduced. It is intended to modify both the topology and the parameters of the neural network, and not to impose additional constraints on the individual. The results of the experimental evaluation of the performance of the methods based on the series of benchmark tasks of adaptive control, classification and restoration of damaged data are carried out. As criteria of the methods evaluation the number of failures and the total number of evolution epochs are used

Novelty-assisted Interactive Evolution Of Control Behaviors

The field of evolutionary computation is inspired by the achievements of natural evolution, in which there is no final objective. Yet the pursuit of objectives is ubiquitous in simulated evolution because evolutionary algorithms that can consistently achieve established benchmarks are lauded as successful, thus reinforcing this paradigm. A significant problem is that such objective approaches assume that intermediate stepping stones will increasingly resemble the final objective when in fact they often do not. The consequence is that while solutions may exist, searching for such objectives may not discover them. This problem with objectives is demonstrated through an experiment in this dissertation that compares how images discovered serendipitously during interactive evolution in an online system called Picbreeder cannot be rediscovered when they become the final objective of the very same algorithm that originally evolved them. This negative result demonstrates that pursuing an objective limits evolution by selecting offspring only based on the final objective. Furthermore, even when high fitness is achieved, the experimental results suggest that the resulting solutions are typically brittle, piecewise representations that only perform well by exploiting idiosyncratic features in the target. In response to this problem, the dissertation next highlights the importance of leveraging human insight during search as an alternative to articulating explicit objectives. In particular, a new approach called novelty-assisted interactive evolutionary computation (NA-IEC) combines human intuition with a method called novelty search for the first time to facilitate the serendipitous discovery of agent behaviors. iii In this approach, the human user directs evolution by selecting what is interesting from the on-screen population of behaviors. However, unlike in typical IEC, the user can then request that the next generation be filled with novel descendants, as opposed to only the direct descendants of typical IEC. The result of such an approach, unconstrained by a priori objectives, is that it traverses key stepping stones that ultimately accumulate meaningful domain knowledge. To establishes this new evolutionary approach based on the serendipitous discovery of key stepping stones during evolution, this dissertation consists of four key contributions: (1) The first contribution establishes the deleterious effects of a priori objectives on evolution. The second (2) introduces the NA-IEC approach as an alternative to traditional objective-based approaches. The third (3) is a proof-of-concept that demonstrates how combining human insight with novelty search finds solutions significantly faster and at lower genomic complexities than fully-automated processes, including pure novelty search, suggesting an important role for human users in the search for solutions. Finally, (4) the NA-IEC approach is applied in a challenge domain wherein leveraging human intuition and domain knowledge accelerates the evolution of solutions for the nontrivial octopus-arm control task. The culmination of these contributions demonstrates the importance of incorporating human insights into simulated evolution as a means to discovering better solutions more rapidly than traditional approaches

Towards Evolving More Brain-Like Artificial Neural Networks

An ambitious long-term goal for neuroevolution, which studies how artificial evolutionary processes can be driven to produce brain-like structures, is to evolve neurocontrollers with a high density of neurons and connections that can adapt and learn from past experience. Yet while neuroevolution has produced successful results in a variety of domains, the scale of natural brains remains far beyond reach. In this dissertation two extensions to the recently introduced Hypercube-based NeuroEvolution of Augmenting Topologies (HyperNEAT) approach are presented that are a step towards more brain-like artificial neural networks (ANNs). First, HyperNEAT is extended to evolve plastic ANNs that can learn from past experience. This new approach, called adaptive HyperNEAT, allows not only patterns of weights across the connectivity of an ANN to be generated by a function of its geometry, but also patterns of arbitrary local learning rules. Second, evolvable-substrate HyperNEAT (ES-HyperNEAT) is introduced, which relieves the user from deciding where the hidden nodes should be placed in a geometry that is potentially infinitely dense. This approach not only can evolve the location of every neuron in the network, but also can represent regions of varying density, which means resolution can increase holistically over evolution. The combined approach, adaptive ES-HyperNEAT, unifies for the first time in neuroevolution the abilities to indirectly encode connectivity through geometry, generate patterns of heterogeneous plasticity, and simultaneously encode the density and placement of nodes in space. The dissertation culminates in a major application domain that takes a step towards the general goal of adaptive neurocontrollers for legged locomotion

A unified approach to evolving plasticity and neural geometry

Abstract—An ambitious long-term goal for neuroevolution, which studies how artificial evolutionary processes can be driven to produce brain-like structures, is to evolve neurocontrollers with a high density of neurons and connections that can adapt and learn from past experience. Yet while neuroevolution has produced successful results in a variety of domains, the scale of natural brains remains far beyond reach. This paper unifies a set of advanced neuroevolution techniques into a new method called adaptive evolvable-substrate HyperNEAT, which is a step toward more biologically-plausible artificial neural networks (ANNs). The combined approach is able to fully determine the geometry, density, and plasticity of an evolving neuromodulated ANN. These complementary capabilities are demonstrated in a maze-learning task based on similar experiments with animals. The most interesting aspect of this investigation is that the emergent neural structures are beginning to acquire more natural properties, which means that neuroevolution can begin to pose new problems and answer deeper questions about how brains evolved that are ultimately relevant to the field of AI as a whole. I

Evolving Static Representations for Task Transfer

An important goal for machine learning is to transfer knowledge between tasks. For example, learning to play RoboCup Keepaway should contribute to learning the full game of RoboCup soccer. Previous approaches to transfer in Keepaway have focused on transforming the original representation to fit the new task. In contrast, this paper explores the idea that transfer is most effective if the representation is designed to be the same even across different tasks. To demonstrate this point, a bird\u27s eye view (BEV) representation is introduced that can represent different tasks on the same two-dimensional map. For example, both the 3 vs. 2 and 4 vs. 3 Keepaway tasks can be represented on the same BEV. Yet the problem is that a raw two-dimensional map is high-dimensional and unstructured. This paper shows how this problem is addressed naturally by an idea from evolutionary computation called indirect encoding, which compresses the representation by exploiting its geometry. The result is that the BEV learns a Keepaway policy that transfers without further learning or manipulation. It also facilitates transferring knowledge learned in a different domain, Knight Joust, into Keepaway. Finally, the indirect encoding of the BEV means that its geometry can be changed without altering the solution. Thus static representations facilitate several kinds of transfer