2,240 research outputs found
Scalable Co-Optimization of Morphology and Control in Embodied Machines
Evolution sculpts both the body plans and nervous systems of agents together
over time. In contrast, in AI and robotics, a robot's body plan is usually
designed by hand, and control policies are then optimized for that fixed
design. The task of simultaneously co-optimizing the morphology and controller
of an embodied robot has remained a challenge. In psychology, the theory of
embodied cognition posits that behavior arises from a close coupling between
body plan and sensorimotor control, which suggests why co-optimizing these two
subsystems is so difficult: most evolutionary changes to morphology tend to
adversely impact sensorimotor control, leading to an overall decrease in
behavioral performance. Here, we further examine this hypothesis and
demonstrate a technique for "morphological innovation protection", which
temporarily reduces selection pressure on recently morphologically-changed
individuals, thus enabling evolution some time to "readapt" to the new
morphology with subsequent control policy mutations. We show the potential for
this method to avoid local optima and converge to similar highly fit
morphologies across widely varying initial conditions, while sustaining fitness
improvements further into optimization. While this technique is admittedly only
the first of many steps that must be taken to achieve scalable optimization of
embodied machines, we hope that theoretical insight into the cause of
evolutionary stagnation in current methods will help to enable the automation
of robot design and behavioral training -- while simultaneously providing a
testbed to investigate the theory of embodied cognition
Metaheuristic design of feedforward neural networks: a review of two decades of research
Over the past two decades, the feedforward neural network (FNN) optimization has been a key interest among the researchers and practitioners of multiple disciplines. The FNN optimization is often viewed from the various perspectives: the optimization of weights, network architecture, activation nodes, learning parameters, learning environment, etc. Researchers adopted such different viewpoints mainly to improve the FNN's generalization ability. The gradient-descent algorithm such as backpropagation has been widely applied to optimize the FNNs. Its success is evident from the FNN's application to numerous real-world problems. However, due to the limitations of the gradient-based optimization methods, the metaheuristic algorithms including the evolutionary algorithms, swarm intelligence, etc., are still being widely explored by the researchers aiming to obtain generalized FNN for a given problem. This article attempts to summarize a broad spectrum of FNN optimization methodologies including conventional and metaheuristic approaches. This article also tries to connect various research directions emerged out of the FNN optimization practices, such as evolving neural network (NN), cooperative coevolution NN, complex-valued NN, deep learning, extreme learning machine, quantum NN, etc. Additionally, it provides interesting research challenges for future research to cope-up with the present information processing era
Born to learn: The inspiration, progress, and future of evolved plastic artificial neural networks
Biological plastic neural networks are systems of extraordinary computational
capabilities shaped by evolution, development, and lifetime learning. The
interplay of these elements leads to the emergence of adaptive behavior and
intelligence. Inspired by such intricate natural phenomena, Evolved Plastic
Artificial Neural Networks (EPANNs) use simulated evolution in-silico to breed
plastic neural networks with a large variety of dynamics, architectures, and
plasticity rules: these artificial systems are composed of inputs, outputs, and
plastic components that change in response to experiences in an environment.
These systems may autonomously discover novel adaptive algorithms, and lead to
hypotheses on the emergence of biological adaptation. EPANNs have seen
considerable progress over the last two decades. Current scientific and
technological advances in artificial neural networks are now setting the
conditions for radically new approaches and results. In particular, the
limitations of hand-designed networks could be overcome by more flexible and
innovative solutions. This paper brings together a variety of inspiring ideas
that define the field of EPANNs. The main methods and results are reviewed.
Finally, new opportunities and developments are presented
Robust and Efficient Swarm Communication Topologies for Hostile Environments
Swarm Intelligence-based optimization techniques combine systematic
exploration of the search space with information available from neighbors and
rely strongly on communication among agents. These algorithms are typically
employed to solve problems where the function landscape is not adequately known
and there are multiple local optima that could result in premature convergence
for other algorithms. Applications of such algorithms can be found in
communication systems involving design of networks for efficient information
dissemination to a target group, targeted drug-delivery where drug molecules
search for the affected site before diffusing, and high-value target
localization with a network of drones. In several of such applications, the
agents face a hostile environment that can result in loss of agents during the
search. Such a loss changes the communication topology of the agents and hence
the information available to agents, ultimately influencing the performance of
the algorithm. In this paper, we present a study of the impact of loss of
agents on the performance of such algorithms as a function of the initial
network configuration. We use particle swarm optimization to optimize an
objective function with multiple sub-optimal regions in a hostile environment
and study its performance for a range of network topologies with loss of
agents. The results reveal interesting trade-offs between efficiency,
robustness, and performance for different topologies that are subsequently
leveraged to discover general properties of networks that maximize performance.
Moreover, networks with small-world properties are seen to maximize performance
under hostile conditions
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
Using Pareto optimality to explore the topology and dynamics of the human connectome.
Graph theory has provided a key mathematical framework to analyse the architecture of human brain networks. This architecture embodies an inherently complex relationship between connection topology, the spatial arrangement of network elements, and the resulting network cost and functional performance. An exploration of these interacting factors and driving forces may reveal salient network features that are critically important for shaping and constraining the brain's topological organization and its evolvability. Several studies have pointed to an economic balance between network cost and network efficiency with networks organized in an 'economical' small-world favouring high communication efficiency at a low wiring cost. In this study, we define and explore a network morphospace in order to characterize different aspects of communication efficiency in human brain networks. Using a multi-objective evolutionary approach that approximates a Pareto-optimal set within the morphospace, we investigate the capacity of anatomical brain networks to evolve towards topologies that exhibit optimal information processing features while preserving network cost. This approach allows us to investigate network topologies that emerge under specific selection pressures, thus providing some insight into the selectional forces that may have shaped the network architecture of existing human brains
Towards The Deep Semantic Learning Machine Neuroevolution Algorithm: An exploration on the CIFAR-10 problem task
Dissertation presented as the partial requirement for obtaining a Master's degree in Data Science and Advanced AnalyticsSelecting the topology and parameters of Convolutional Neural Network (CNN) for a given supervised machine learning task is a non-trivial problem. The Deep Semantic Learning Machine (Deep-SLM) deals with this problem by automatically constructing CNNs without the use of the Backpropagation algorithm. The Deep-SLM is a novel neuroevolution technique and functions as stochastic semantic hill-climbing algorithm searching over the space of CNN topologies and parameters. The geometric semantic properties of the Deep-SLM induce a unimodel error space and eliminate the existence of local optimal solutions. This makes the Deep-SLM potentially favorable in terms of search efficiency and effectiveness.
This thesis provides an exploration of a variant of the Deep-SLM algorithm on the CIFAR-10 problem task, and a validation of its proof of concept. This specific variant only forms mutation node ! mutation node connections in the non-convolutional part of the constructed CNNs. Furthermore, a comparative study between the Deep-SLM and the Semantic Learning Machine (SLM) algorithms was conducted. It was observed that sparse connections can be an effective way to prevent overfitting. Additionally, it was shown that a single 2D convolution layer initialized with random weights does not result in well-generalizing features for the Deep-SLM directly, but, in combination with a 2D max-pooling down sampling layer, effective improvements in performance and generalization of the Deep-SLM could be achieved. These results constitute to the hypothesis that convolution and pooling layers can improve performance and generalization of the Deep-SLM, unless the components are properly optimized.Selecionar a topologia e os parâmetros da Rede Neural Convolucional (CNN) para uma tarefa de aprendizado automático supervisionada não é um problema trivial. A Deep Semantic Learning Machine (Deep-SLM) lida com este problema construindo automaticamente CNNs sem recorrer ao uso do algoritmo de Retro-propagação. A Deep-SLM é uma nova técnica de neuroevolução que funciona enquanto um algoritmo de
escalada estocástico semântico na pesquisa de topologias e de parâmetros CNN. As propriedades geométrico-semânticas da Deep-SLM induzem um unimodel error space que elimina a existência de soluções ótimas locais, favorecendo, potencialmente, a Deep-SLM em termos de eficiência e eficácia.
Esta tese providencia uma exploração de uma variante do algoritmo da Deep-SLM no problemo de CIFAR-10, assim como uma validação do seu conceito de prova. Esta variante específica apenas forma conexões nó de mutação!nó de mutação na parte non convolucional da CNN construída. Mais ainda, foi conduzido um estudo comparativo entre a Deep-SLM e o algoritmo da Semantic Learning Machine (SLM). Tendo sido observado
que as conexões esparsas poderão tratar-se de uma forma eficiente de prevenir o overfitting. Adicionalmente, mostrou-se que uma singular camada de convolução 2D, iniciada com valores aleatórios, não resulta, directamente, em características generalizadas para a Deep-SLM, mas, em combinação com uma camada de 2D max-pooling, melhorias efectivas na performance e na generalização da Deep-SLM poderão ser concretizadas.
Estes resultados constituem, assim, a hipótese de que as camadas de convolução e pooling poderão melhorar a performance e a generalização da Deep-SLM, a não ser que os componentes sejam adequadamente otimizados
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