Evolutionary design of deep neural networks

Mención Internacional en el título de doctorFor three decades, neuroevolution has applied evolutionary computation to the optimization of the topology of artificial neural networks, with most works focusing on very simple architectures. However, times have changed, and nowadays convolutional neural networks are the industry and academia standard for solving a variety of problems, many of which remained unsolved before the discovery of this kind of networks. Convolutional neural networks involve complex topologies, and the manual design of these topologies for solving a problem at hand is expensive and inefficient. In this thesis, our aim is to use neuroevolution in order to evolve the architecture of convolutional neural networks. To do so, we have decided to try two different techniques: genetic algorithms and grammatical evolution. We have implemented a niching scheme for preserving the genetic diversity, in order to ease the construction of ensembles of neural networks. These techniques have been validated against the MNIST database for handwritten digit recognition, achieving a test error rate of 0.28%, and the OPPORTUNITY data set for human activity recognition, attaining an F1 score of 0.9275. Both results have proven very competitive when compared with the state of the art. Also, in all cases, ensembles have proven to perform better than individual models. Later, the topologies learned for MNIST were tested on EMNIST, a database recently introduced in 2017, which includes more samples and a set of letters for character recognition. Results have shown that the topologies optimized for MNIST perform well on EMNIST, proving that architectures can be reused across domains with similar characteristics. In summary, neuroevolution is an effective approach for automatically designing topologies for convolutional neural networks. However, it still remains as an unexplored field due to hardware limitations. Current advances, however, should constitute the fuel that empowers the emergence of this field, and further research should start as of today.This Ph.D. dissertation has been partially supported by the Spanish Ministry of Education, Culture and Sports under FPU fellowship with identifier FPU13/03917. This research stay has been partially co-funded by the Spanish Ministry of Education, Culture and Sports under FPU short stay grant with identifier EST15/00260.Programa Oficial de Doctorado en Ciencia y Tecnología InformáticaPresidente: María Araceli Sanchís de Miguel.- Secretario: Francisco Javier Segovia Pérez.- Vocal: Simon Luca

Mejora de computación neuromórfica con arquitecturas avanzadas de redes neuronales por impulsos

La computación neuromórfica (NC, del inglés neuromorphic computing) pretende revolucionar el campo de la inteligencia artificial. Implica diseñar e implementar sistemas electrónicos que simulen el comportamiento de las neuronas biológicas utilizando hardware especializado, como matrices de puertas programables en campo (FPGA, del ingl´es field-programmable gate array) o chips neuromórficos dedicados [1, 2]. NC está diseñado para ser altamente eficiente, optimizado para bajo consumo de energía y alto paralelismo [3]. Estos sistemas son adaptables a entornos cambiantes y pueden aprender durante la operación, lo que los hace muy adecuados para resolver problemas dinámicos e impredecibles [4]. Sin embargo, el uso de NC para resolver problemas de la vida real actualmente está limitado porque el rendimiento de las redes neuronales por impulsos (SNN), las redes neuronales empleadas en NC, no es tan alta como el de los sistemas de computación tradicionales, como los alcanzados en dispositivos de aprendizaje profundo especializado, en términos de precisión y velocidad de aprendizaje [5, 6]. Varias razones contribuyen a la brecha de rendimiento: los SNN son más difíciles de entrenar debido a que necesitan algoritmos de entrenamiento especializados [7, 8]; son más sensibles a hiperparámetros, ya que son sistemas dinámicos con interacciones complejas [9], requieren conjuntos de datos especializados (datos neuromórficos) que actualmente son escasos y de tamaño limitado [10], y el rango de funciones que los SNN pueden aproximar es más limitado en comparación con las redes neuronales artificiales (ANN) tradicionales [11]. Antes de que NC pueda tener un impacto más significativo en la IA y la tecnología informática, es necesario abordar estos desafíos relacionados con los SNN.This dissertation addresses current limitations of neuromorphic computing to create energy-efficient and adaptable artificial intelligence systems. It focuses on increasing utilization of neuromorphic computing by designing novel architectures that improve the performance of the spiking neural networks. Specifically, the architectures address the issues of training complexity, hyperparameter selection, computational flexibility, and scarcity of training data. The first proposed architecture utilizes auxiliary learning to improve training performance and data usage, while the second architecture leverages neuromodulation capability of spiking neurons to improve multitasking classification performance. The proposed architectures are tested on the Intel’s Loihi2 neuromorphic computer using several neuromorphic data sets, such as NMIST, DVSCIFAR10, and DVS128-Gesture. Results presented in this dissertation demonstrate the potential of the proposed architectures, but also reveal some limitations that are proposed as future work

Modelling lava flows by Cellular Nonlinear Networks (CNN): preliminary results

International audienceThe forecasting of lava flow paths is a complex problem in which temperature, rheology and flux-rate all vary with space and time. The problem is more difficult to solve when lava runs down a real topography, considering that the relations between characteristic parameters of flow are typically nonlinear. An alternative approach to this problem that does not use standard differential equation methods is Cellular Nonlinear Networks (CNNs). The CNN paradigm is a natural and flexible framework for describing locally interconnected, simple, dynamic systems that have a lattice-like structure. They consist of arrays of essentially simple, nonlinearly coupled dynamic circuits containing linear and non-linear elements able to process large amounts of information in real time. Two different approaches have been implemented in simulating some lava flows. Firstly, a typical technique of the CNNs to analyze spatio-temporal phenomena (as Autowaves) in 2-D and in 3-D has been utilized. Secondly, the CNNs have been used as solvers of partial differential equations of the Navier-Stokes treatment of Newtonian flow

An integrated deep learning and object-based image analysis approach for mapping debris- covered glaciers

Evaluating glacial change and the subsequent water stores in high mountains is becoming increasingly necessary, and in order to do this, models need reliable and consistent glacier data. These often come from global inventories, usually constructed from multi-temporal satellite imagery. However, there are limitations to these datasets. While clean ice can be mapped relatively easily using spectral band ratios, mapping debris-covered ice is more difficult due to the spectral similarity of supraglacial debris to the surrounding terrain. Therefore, analysts often employ manual delineation, a time-consuming and subjective approach to map debris-covered ice extents. Given the increasing prevalence of supraglacial debris in high mountain regions, such as High Mountain Asia, a systematic, objective approach is needed. The current study presents an approach for mapping debris-covered glaciers that integrates a convolutional neural network and object-based image analysis into one seamless classification workflow, applied to freely available and globally applicable Sentinel-2 multispectral, Landsat-8 thermal, Sentinel-1 interferometric coherence, and geomorphometric datasets. The approach is applied to three different domains in the Central Himalayan and the Karakoram ranges of High Mountain Asia that exhibit varying climatic regimes, topographies and debris-covered glacier characteristics. We evaluate the performance of the approach by comparison with a manually delineated glacier inventory, achieving F-score classification accuracies of 89.2%–93.7%. We also tested the performance of this approach on declassified panchromatic 1970 Corona KH-4B satellite imagery in the Manaslu region of Nepal, yielding accuracies of up to 88.4%. We find our approach to be robust, transferable to other regions, and accurate over regional (>4,000 km2) scales. Integrating object-based image analysis with deep-learning within a single workflow overcomes shortcomings associated with convolutional neural network classifications and permits a more flexible and robust approach for mapping debris-covered glaciers. The novel automated processing of panchromatic historical imagery, such as Corona KH-4B, opens the possibility of exploiting a wealth of multi-temporal data to understand past glacier changes.publishedVersio

NeBula: TEAM CoSTAR’s robotic autonomy solution that won phase II of DARPA subterranean challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR’s demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.Peer ReviewedAgha, A., Otsu, K., Morrell, B., Fan, D. D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., Ginting, M. F., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T. S., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G. J., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Da Silva, M. S., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H. A., Melikyan, H., Choi, H. C., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, JPostprint (published version

Towards global volcano monitoring using multisensor sentinel missions and artificial intelligence: The MOUNTS monitoring system

Most of the world’s 1500 active volcanoes are not instrumentally monitored, resulting in deadly eruptions which can occur without observation of precursory activity. The new Sentinel missions are now providing freely available imagery with unprecedented spatial and temporal resolutions, with payloads allowing for a comprehensive monitoring of volcanic hazards. We here present the volcano monitoring platform MOUNTS (Monitoring Unrest from Space), which aims for global monitoring, using multisensor satellite-based imagery (Sentinel-1 Synthetic Aperture Radar SAR, Sentinel-2 Short-Wave InfraRed SWIR, Sentinel-5P TROPOMI), ground-based seismic data (GEOFON and USGS global earthquake catalogues), and artificial intelligence (AI) to assist monitoring tasks. It provides near-real-time access to surface deformation, heat anomalies, SO2 gas emissions, and local seismicity at a number of volcanoes around the globe, providing support to both scientific and operational communities for volcanic risk assessment. Results are visualized on an open-access website where both geocoded images and time series of relevant parameters are provided, allowing for a comprehensive understanding of the temporal evolution of volcanic activity and eruptive products. We further demonstrate that AI can play a key role in such monitoring frameworks. Here we design and train a Convolutional Neural Network (CNN) on synthetically generated interferograms, to operationally detect strong deformation (e.g., related to dyke intrusions), in the real interferograms produced by MOUNTS. The utility of this interdisciplinary approach is illustrated through a number of recent eruptions (Erta Ale 2017, Fuego 2018, Kilauea 2018, Anak Krakatau 2018, Ambrym 2018, and Piton de la Fournaise 2018–2019). We show how exploiting multiple sensors allows for assessment of a variety of volcanic processes in various climatic settings, ranging from subsurface magma intrusion, to surface eruptive deposit emplacement, pre/syn-eruptive morphological changes, and gas propagation into the atmosphere. The data processed by MOUNTS is providing insights into eruptive precursors and eruptive dynamics of these volcanoes, and is sharpening our understanding of how the integration of multiparametric datasets can help better monitor volcanic hazards

Grid-to-Graph: Flexible Spatial Relational Inductive Biases for Reinforcement Learning.

Although reinforcement learning has been successfully applied in many domains in recent years, we still lack agents that can systematically generalize. While relational inductive biases that fit a task can improve generalization of RL agents, these biases are commonly hard-coded directly in the agent's neural architecture. In this work, we show that we can incorporate relational inductive biases, encoded in the form of relational graphs, into agents. Based on this insight, we propose Grid-to-Graph (GTG), a mapping from grid structures to relational graphs that carry useful spatial relational inductive biases when processed through a Relational Graph Convolution Network (R-GCN). We show that, with GTG, R-GCNs generalize better both in terms of in-distribution and out-of-distribution compared to baselines based on Convolutional Neural Networks and Neural Logic Machines on challenging procedurally generated environments and MinAtar. Furthermore, we show that GTG produces agents that can jointly reason over observations and environment dynamics encoded in knowledge bases

Grid-to-Graph: Flexible Spatial Relational Inductive Biases for Reinforcement Learning.

Although reinforcement learning has been successfully applied in many domains in recent years, we still lack agents that can systematically generalize. While relational inductive biases that fit a task can improve generalization of RL agents, these biases are commonly hard-coded directly in the agent's neural architecture. In this work, we show that we can incorporate relational inductive biases, encoded in the form of relational graphs, into agents. Based on this insight, we propose Grid-to-Graph (GTG), a mapping from grid structures to relational graphs that carry useful spatial relational inductive biases when processed through a Relational Graph Convolution Network (R-GCN). We show that, with GTG, R-GCNs generalize better both in terms of in-distribution and out-of-distribution compared to baselines based on Convolutional Neural Networks and Neural Logic Machines on challenging procedurally generated environments and MinAtar. Furthermore, we show that GTG produces agents that can jointly reason over observations and environment dynamics encoded in knowledge bases