Neuroevolution on the Edge of Chaos

Echo state networks represent a special type of recurrent neural networks. Recent papers stated that the echo state networks maximize their computational performance on the transition between order and chaos, the so-called edge of chaos. This work confirms this statement in a comprehensive set of experiments. Furthermore, the echo state networks are compared to networks evolved via neuroevolution. The evolved networks outperform the echo state networks, however, the evolution consumes significant computational resources. It is demonstrated that echo state networks with local connections combine the best of both worlds, the simplicity of random echo state networks and the performance of evolved networks. Finally, it is shown that evolution tends to stay close to the ordered side of the edge of chaos.Comment: To appear in Proceedings of the Genetic and Evolutionary Computation Conference 2017 (GECCO '17

Training Neural Networks Through the Integration of Evolution and Gradient Descent

Neural networks have achieved widespread adoption due to both their applicability to a wide range of problems and their success relative to other machine learning algorithms. The training of neural networks is achieved through any of several paradigms, most prominently gradient-based approaches (including deep learning), but also through up-and-coming approaches like neuroevolution. However, while both of these neural network training paradigms have seen major improvements over the past decade, little work has been invested in developing algorithms that incorporate the advances from both deep learning and neuroevolution. This dissertation introduces two new algorithms that are steps towards the integration of gradient descent and neuroevolution for training neural networks. The first is (1) the Limited Evaluation Evolutionary Algorithm (LEEA), which implements a novel form of evolution where individuals are partially evaluated, allowing rapid learning and enabling the evolutionary algorithm to behave more like gradient descent. This conception provides a critical stepping stone to future algorithms that more tightly couple evolutionary and gradient descent components. The second major algorithm (2) is Divergent Discriminative Feature Accumulation (DDFA), which combines a neuroevolution phase, where features are collected in an unsupervised manner, with a gradient descent phase for fine tuning of the neural network weights. The neuroevolution phase of DDFA utilizes an indirect encoding and novelty search, which are sophisticated neuroevolution components rarely incorporated into gradient descent-based systems. Further contributions of this work that build on DDFA include (3) an empirical analysis to identify an effective distance function for novelty search in high dimensions and (4) the extension of DDFA for the purpose of discovering convolutional features. The results of these DDFA experiments together show that DDFA discovers features that are effective as a starting point for gradient descent, with significant improvement over gradient descent alone. Additionally, the method of collecting features in an unsupervised manner allows DDFA to be applied to domains with abundant unlabeled data and relatively sparse labeled data. This ability is highlighted in the STL-10 domain, where DDFA is shown to make effective use of unlabeled data

CA-NEAT: Evolved Compositional Pattern Producing Networks for Cellular Automata Morphogenesis and Replication

Cellular Automata (CA) are a remarkable example of morphogenetic system, where cells grow and self-organise through local interactions. CA have been used as abstractions of biological development and artificial life. Such systems have been able to show properties that are often desirable but difficult to achieve in engineered systems, e.g. morphogenesis and replication of regular patterns without any form of centralized coordination. However, cellular systems are hard to program (i.e. evolve) and control, especially when the number of cell states and neighbourhood increase. In this paper, we propose a new principle of morphogenesis based on Compositional Pattern Producing Networks (CPPNs), an abstraction of development that has been able to produce complex structural motifs without local interactions. CPPNs are used as Cellular Automata genotypes and evolved with a NeuroEvolution of Augmenting Topologies (NEAT) algorithm. This allows complexification of genomes throughout evolution with phenotypes emerging from self-organisation through development based on local interactions. In this paper, the problems of 2D pattern morphogenesis and replication are investigated. Results show that CA-NEAT is an appropriate means of approaching cellular systems engineering, especially for future applications where natural levels of complexity are targeted. We argue that CA-NEAT could provide a valuable mapping for morphogenetic systems, beyond cellular automata systems, where development through local interactions is desired

Quality Diversity: Harnessing Evolution to Generate a Diversity of High-Performing Solutions

Evolution in nature has designed countless solutions to innumerable interconnected problems, giving birth to the impressive array of complex modern life observed today. Inspired by this success, the practice of evolutionary computation (EC) abstracts evolution artificially as a search operator to find solutions to problems of interest primarily through the adaptive mechanism of survival of the fittest, where stronger candidates are pursued at the expense of weaker ones until a solution of satisfying quality emerges. At the same time, research in open-ended evolution (OEE) draws different lessons from nature, seeking to identify and recreate processes that lead to the type of perpetual innovation and indefinitely increasing complexity observed in natural evolution. New algorithms in EC such as MAP-Elites and Novelty Search with Local Competition harness the toolkit of evolution for a related purpose: finding as many types of good solutions as possible (rather than merely the single best solution). With the field in its infancy, no empirical studies previously existed comparing these so-called quality diversity (QD) algorithms. This dissertation (1) contains the first extensive and methodical effort to compare different approaches to QD (including both existing published approaches as well as some new methods presented for the first time here) and to understand how they operate to help inform better approaches in the future. It also (2) introduces a new technique for encoding neural networks for evolution with indirect encoding that contain multiple sensory or output modalities. Further, it (3) explores the idea that QD can act as an engine of open-ended discovery by introducing an expressive platform called Voxelbuild where QD algorithms continually evolve robots that stack blocks in new ways. A culminating experiment (4) is presented that investigates evolution in Voxelbuild over a very long timescale. This research thus stands to advance the OEE community\u27s desire to create and understand open-ended systems while also laying the groundwork for QD to realize its potential within EC as a means to automatically generate an endless progression of new content in real-world applications

Evolutionary Deep Convolutional Neural Networks for Medical Image Analysis

Medical image segmentation is a procedure to analyse an image’s content to find an organ, cancer, tumour, or possible abnormalities. Since hospitals and medical centres generate billions of images daily worldwide, manual analysis of the images is frustrating. Therefore there is a need to improve automatic techniques to examine the content of images. Deep Convolutional Neural Networks (DCNNs) are one of the most reliable and successful approaches to analyse images’ content. However, the main problem is a lack of rules to design a network, and trial and error is the usual approach to find a network structure along with its training parameters. Regarding the diversity of medical images, existing with various types of noises and artefacts, the limited number of available labelled medical images, and limited available computational facilities, designing a CNN for medical image analysis is even more complicated. Because of the importance of medical image segmentation, during the last decade, various CNNs are designed manually; however, most of these networks work well for the segmentation of a specific dataset or application. One of the solutions to address this problem is developing networks automatically. Neuroevolution, which is the combination of an evolutionary algorithm and Neural Networks (NNs), can automatically design a network. Evolutionary algorithms are relatively easy to understand and implement; however, they need considerable computation to evolve a network. Since Nerouevolution is computationally demanding, there is very limited previous work regarding applying Neuroevolution for medical image segmentation. Existing works just set up a part of the parameters to develop a network and have been applied to a limited number of datasets. The most significant drawbacks of existing works are lack of robustness and generalizability; also, most of them are computationally expensive. In this thesis, several Neroevolutionary-based frameworks are developed for 2D and 3D medical image segmentation. Firstly, a new block-based encoding model is developed to generate variable length 2D Deep Convolutional Neural Networks (DCNNs). The proposed encoding model could find appropriate values for several hyperparameters to create and train a DCNN. Also, a Genetic Algorithm (GA) is employed to evolve the generated networks. Besides, a comprehensive analysis is done to find an appropriate population size and generations, and consequently, an improved model is developed. In addition, to improve the results’ quality, an ensemble of found networks is utilised for final segmentation. Then to find a 3D evolutionary network, two approaches are examined. According to the proposed 2D model, a 3D model is developed to generate a population of 3D networks and evolve the 3D networks to find an appropriate 3D network for 3D medical image segmentation. Since evolving 3D networks is computationally expensive, a second approach is also introduced. In the second approach, the possibility of using a 2D evolutionary model to create a 3D network is examined and named Converted 3D network. Because of the diversity of medical images and the complexity of medical image analysis, sometimes more complicated CNN is needed. To address this issue, also another evolutionary model is developed in this thesis to generate more accurate and complex DCNNs using the combination of Dense and Residual blocks. In the proposed DenseRes model, a new encoding model is introduced, which is able to create a variable-length network with variable filter sizes within a block. In the DenseRes model, all required parameters to generate and train a network are included in the search. Most of the time, the Region Of Interest (ROI) is a small part of a medical image with almost the similar colour and texture of the surrounding organs. Therefore, more precise network architectures, like attention networks, are needed to process the images. To do so, two different approaches are introduced in this thesis to develop evolutionary attention networks. First, a 2D evolutionary attention model is proposed that is able to find an appropriate attention gate to transfer the block’s input to its output. Since some useful information will be lost during the downsampling in DCNNs, another 2D and 3D evolutionary attention framework is introduced to address this issue. In this model, besides creating a network structure along with its training parameters, an evolutionary algorithm is employed to find an appropriate model to recover and transfer feature maps from downsampling to the upsampling part of a network. The effectiveness of the proposed models is examined using various publicly available datasets. Results are compared with multiple manual and automatically designed models. The significant findings of this thesis can summarise as: (1) the proposed models obtain much better segmentation accuracy compared to state-of-the-art models, also, the proposed models are computationally cheap, even for developing 3D evolutionary networks; (2) converting a 2D evolutionary model to a 3D model is a reliable, fast, and accurate approach to create 3D networks; (3) including more constructive parameters in the search space can lead to more precise networks; (4) the initial population plays a significant role in the final results and decreasing training time; moreover, using variable filter sizes within a block can obtain better results compared to using a fixed one; (5) recovering a downsampling’s feature maps and transferring them to the corresponding upsampling part can considerably improve segmentation accuracy; (6) the proposed models are robust and general such that they can be applied for the segmentation of various medical images (CT and MRI) for different organs and tumour segmentation; (7) all the proposed encoding models are compatible with conventional crossover and mutation techniques, without any extra effort to create a new crossover technique or using a method to check the correctness of layers’ sequences

Harnessing Evolution in-Materio as an Unconventional Computing Resource

This thesis illustrates the use and development of physical conductive analogue systems for unconventional computing using the Evolution in-Materio (EiM) paradigm. EiM uses an Evolutionary Algorithm to configure and exploit a physical material (or medium) for computation. While EiM processors show promise, fundamental questions and scaling issues remain. Additionally, their development is hindered by slow manufacturing and physical experimentation. This work addressed these issues by implementing simulated models to speed up research efforts, followed by investigations of physically implemented novel in-materio devices. Initial work leveraged simulated conductive networks as single substrate ‘monolithic’ EiM processors, performing classification by formulating the system as an optimisation problem, solved using Differential Evolution. Different material properties and algorithm parameters were isolated and investigated; which explained the capabilities of configurable parameters and showed ideal nanomaterial choice depended upon problem complexity. Subsequently, drawing from concepts in the wider Machine Learning field, several enhancements to monolithic EiM processors were proposed and investigated. These ensured more efficient use of training data, better classification decision boundary placement, an independently optimised readout layer, and a smoother search space. Finally, scalability and performance issues were addressed by constructing in-Materio Neural Networks (iM-NNs), where several EiM processors were stacked in parallel and operated as physical realisations of Hidden Layer neurons. Greater flexibility in system implementation was achieved by re-using a single physical substrate recursively as several virtual neurons, but this sacrificed faster parallelised execution. These novel iM-NNs were first implemented using Simulated in-Materio neurons, and trained for classification as Extreme Learning Machines, which were found to outperform artificial networks of a similar size. Physical iM-NN were then implemented using a Raspberry Pi, custom Hardware Interface and Lambda Diode based Physical in-Materio neurons, which were trained successfully with neuroevolution. A more complex AutoEncoder structure was then proposed and implemented physically to perform dimensionality reduction on a handwritten digits dataset, outperforming both Principal Component Analysis and artificial AutoEncoders. This work presents an approach to exploit systems with interesting physical dynamics, and leverage them as a computational resource. Such systems could become low power, high speed, unconventional computing assets in the future