Intrinsically Motivated Goal Exploration Processes with Automatic Curriculum Learning

Intrinsically motivated spontaneous exploration is a key enabler of autonomous lifelong learning in human children. It enables the discovery and acquisition of large repertoires of skills through self-generation, self-selection, self-ordering and self-experimentation of learning goals. We present an algorithmic approach called Intrinsically Motivated Goal Exploration Processes (IMGEP) to enable similar properties of autonomous or self-supervised learning in machines. The IMGEP algorithmic architecture relies on several principles: 1) self-generation of goals, generalized as fitness functions; 2) selection of goals based on intrinsic rewards; 3) exploration with incremental goal-parameterized policy search and exploitation of the gathered data with a batch learning algorithm; 4) systematic reuse of information acquired when targeting a goal for improving towards other goals. We present a particularly efficient form of IMGEP, called Modular Population-Based IMGEP, that uses a population-based policy and an object-centered modularity in goals and mutations. We provide several implementations of this architecture and demonstrate their ability to automatically generate a learning curriculum within several experimental setups including a real humanoid robot that can explore multiple spaces of goals with several hundred continuous dimensions. While no particular target goal is provided to the system, this curriculum allows the discovery of skills that act as stepping stone for learning more complex skills, e.g. nested tool use. We show that learning diverse spaces of goals with intrinsic motivations is more efficient for learning complex skills than only trying to directly learn these complex skills

ADR-Miner: An Ant-based data reduction algorithm for classification

Classi cation is a central problem in the elds of data mining and machine learning. Using a training set of labeled instances, the task is to build a model (classi er) that can be used to predict the class of new unlabeled instances. Data preparation is crucial to the data mining process, and its focus is to improve the tness of the training data for the learning algorithms to produce more e ective classi ers. Two widely applied data preparation methods are feature selection and instance selection, which fall under the umbrella of data reduction. For my research I propose ADR-Miner, a novel data reduction algorithm that utilizes ant colony optimization (ACO). ADR-Miner is designed to perform instance selection to improve the predictive e ectiveness of the constructed classi cation models. Two versions of ADR-Miner are developed: a base version that uses a single classi cation algorithm during both training and testing, and an extended version which uses separate classi cation algorithms for each phase. The base version of the ADR-Miner algorithm is evaluated against 20 data sets using three classi cation algorithms, and the results are compared to a benchmark data reduction algorithm. The non-parametric Wilcoxon signed-ranks test will is employed to gauge the statistical signi cance of the results obtained. The extended version of ADR-Miner is evaluated against 37 data sets using pairings from fi ve classi cation algorithms and these results are benchmarked against the performance of the classi cation algorithms but without reduction applied as pre-processing. Keywords: Ant Colony Optimization (ACO), Data Mining, Classi cation, Data Reduction

A clustering particle swarm optimizer for locating and tracking multiple optima in dynamic environments

This article is posted here with permission from the IEEE - Copyright @ 2010 IEEEIn the real world, many optimization problems are dynamic. This requires an optimization algorithm to not only find the global optimal solution under a specific environment but also to track the trajectory of the changing optima over dynamic environments. To address this requirement, this paper investigates a clustering particle swarm optimizer (PSO) for dynamic optimization problems. This algorithm employs a hierarchical clustering method to locate and track multiple peaks. A fast local search method is also introduced to search optimal solutions in a promising subregion found by the clustering method. Experimental study is conducted based on the moving peaks benchmark to test the performance of the clustering PSO in comparison with several state-of-the-art algorithms from the literature. The experimental results show the efficiency of the clustering PSO for locating and tracking multiple optima in dynamic environments in comparison with other particle swarm optimization models based on the multiswarm method.This work was supported by the Engineering and Physical Sciences Research Council of U.K., under Grant EP/E060722/1

Forecasting foreign exchange rates with adaptive neural networks using radial basis functions and particle swarm optimization

The motivation for this paper is to introduce a hybrid Neural Network architecture of Particle Swarm Optimization and Adaptive Radial Basis Function (ARBF-PSO), a time varying leverage trading strategy based on Glosten, Jagannathan and Runkle (GJR) volatility forecasts and a Neural Network fitness function for financial forecasting purposes. This is done by benchmarking the ARBF-PSO results with those of three different Neural Networks architectures, a Nearest Neighbors algorithm (k-NN), an autoregressive moving average model (ARMA), a moving average convergence/divergence model (MACD) plus a naïve strategy. More specifically, the trading and statistical performance of all models is investigated in a forecast simulation of the EUR/USD, EUR/GBP and EUR/JPY ECB exchange rate fixing time series over the period January 1999 to March 2011 using the last two years for out-of-sample testing

A novel improved model for building energy consumption prediction based on model integration

Building energy consumption prediction plays an irreplaceable role in energy planning, management, and conservation. Constantly improving the performance of prediction models is the key to ensuring the efficient operation of energy systems. Moreover, accuracy is no longer the only factor in revealing model performance, it is more important to evaluate the model from multiple perspectives, considering the characteristics of engineering applications. Based on the idea of model integration, this paper proposes a novel improved integration model (stacking model) that can be used to forecast building energy consumption. The stacking model combines advantages of various base prediction algorithms and forms them into “meta-features” to ensure that the final model can observe datasets from different spatial and structural angles. Two cases are used to demonstrate practical engineering applications of the stacking model. A comparative analysis is performed to evaluate the prediction performance of the stacking model in contrast with existing well-known prediction models including Random Forest, Gradient Boosted Decision Tree, Extreme Gradient Boosting, Support Vector Machine, and K-Nearest Neighbor. The results indicate that the stacking method achieves better performance than other models, regarding accuracy (improvement of 9.5%–31.6% for Case A and 16.2%–49.4% for Case B), generalization (improvement of 6.7%–29.5% for Case A and 7.1%-34.6% for Case B), and robustness (improvement of 1.5%–34.1% for Case A and 1.8%–19.3% for Case B). The proposed model enriches the diversity of algorithm libraries of empirical models