Simulated road following using neuroevolution

This paper describes a methodology wherein genetic algorithms were used to evolve neural network controllers for application in automatic road driving. The simulated controllers were capable of dynamically varying the mixture of colour components in the input image to ensure the ability to perform well across the entire range of possible environments. During the evolution phase, they were evaluated in a set of environments carefully designed to encourage the development of flexible and general-purpose solutions. Successfully evolved controllers were capable of navigating simulated roads across challenging test environments, each with different geometric and colour distribution properties. These controllers proved to be more robust and adaptable compared to the previous work done using this evolutionary approach. This was due to their improved dynamic colour perception capabilities, as they were now able to demonstrate feature extraction in three (red, green and blue) colour channels

Simulated road following using neuroevolution

This paper describes a methodology wherein genetic algorithms were used to evolve neural network controllers for application in automatic road driving. The simulated controllers were capable of dynamically varying the mixture of colour components in the input image to ensure the ability to perform well across the entire range of possible environments. During the evolution phase, they were evaluated in a set of environments carefully designed to encourage the development of flexible and general-purpose solutions. Successfully evolved controllers were capable of navigating simulated roads across challenging test environments, each with different geometric and colour distribution properties. These controllers proved to be more robust and adaptable compared to the previous work done using this evolutionary approach. This was due to their improved dynamic colour perception capabilities, as they were now able to demonstrate feature extraction in three (red, green and blue) colour channels

Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or NEAT paradigm offers a powerful alternative by allowing the network topology and the connection weights to be simultaneously optimized through an evolutionary process. However, most NEAT implementations allow the consideration of only a single objective. There also persists the question of how to tractably introduce topological diversification that mitigates overfitting to training scenarios. To address these gaps, this paper develops a multi-objective neuro-evolution algorithm. While adopting the basic elements of NEAT, important modifications are made to the selection, speciation, and mutation processes. With the backdrop of small-robot path-planning applications, an experience-gain criterion is derived to encapsulate the amount of diverse local environment encountered by the system. This criterion facilitates the evolution of genes that support exploration, thereby seeking to generalize from a smaller set of mission scenarios than possible with performance maximization alone. The effectiveness of the single-objective (optimizing performance) and the multi-objective (optimizing performance and experience-gain) neuro-evolution approaches are evaluated on two different small-robot cases, with ANNs obtained by the multi-objective optimization observed to provide superior performance in unseen scenarios

Real Time Predictive and Adaptive Hybrid Powertrain Control Development via Neuroevolution

The real-time application of powertrain-based predictive energy management (PrEM) brings the prospect of additional energy savings for hybrid powertrains. Torque split optimal control methodologies have been a focus in the automotive industry and academia for many years. Their real-time application in modern vehicles is, however, still lagging behind. While conventional exact and non-exact optimal control techniques such as Dynamic Programming and Model Predictive Control have been demonstrated, they suffer from the curse of dimensionality and quickly display limitations with high system complexity and highly stochastic environment operation. This paper demonstrates that Neuroevolution associated drive cycle classification algorithms can infer optimal control strategies for any system complexity and environment, hence streamlining and speeding up the control development process. Neuroevolution also circumvents the integration of low fidelity online plant models, further avoiding prohibitive embedded computing requirements and fidelity loss. This brings the prospect of optimal control to complex multi-physics system applications. The methodology presented here covers the development of the drive cycles used to train and validate the neurocontrollers and classifiers, as well as the application of the Neuroevolution process

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

Correspondence between neuroevolution and gradient descent

We show analytically that training a neural network by stochastic mutation or "neuroevolution" of its weights is equivalent, in the limit of small mutations, to gradient descent on the loss function in the presence of Gaussian white noise. Averaged over independent realizations of the learning process, neuroevolution is equivalent to gradient descent on the loss function. We use numerical simulation to show that this correspondence can be observed for finite mutations. Our results provide a connection between two distinct types of neural-network training, and provide justification for the empirical success of neuroevolution

Driving Cars by Means of Genetic Algorithms

Proceedings of: 10th International Conference on Parallel Problem Solving From Nature, PPSN 2008. Dortmund, Germany, September 13-17, 2008The techniques and the technologies supporting Automatic Vehicle Guidance are an important issue. Automobile manufacturers view automatic driving as a very interesting product with motivating key features which allow improvement of the safety of the car, reducing emission or fuel consumption or optimizing driver comfort during long journeys. Car racing is an active research field where new advances in aerodynamics, consumption and engine power are critical each season. Our proposal is to research how evolutionary computation techniques can help in this field. As a first goal we want to automatically learn to drive, by means of genetic algorithms, optimizing lap times while driving through three different circuits.Publicad

Deep Neuroevolution: Smart City Applications

Particularmente, la contribución de esta tesis se centra en cuatro aspectos: Primero, proponemos la técnica Mean Absolute Error Random Sampling (MRS) para estimar el rendimiento de una RNN, la cual se basa en la distribución del error observado en un muestreo aleatorio. Nuestros resultados muestran que MRS es una estimación fiable y de bajo coste computacional para predecir el rendimiento de una RNN. Segundo, diseñamos un algoritmo evolutivo (RESN) que explota MRS para optimizar la arquitectura de una RNN. RESN muestra resultados competitivos a la vez que reduce significativamente el tiempo. Tercero, en el contexto de la aplicación, proponemos soluciones para problemas de movilidad, electricidad y gestión de residuos inteligente, y hemos revisado el estado del arte de la ciudad inteligente y su relación con la informática. Cuarto, hemos desarrollado la biblioteca de software Deep Learning OPTimization (DLOPT), la cual está disponible bajo la licencia GNU GPL v3. Ésta contiene la mayor parte del trabajo realizado en esta tesis.El interés por desarrollar redes neuronales artificiales ha resurgido de la mano del Aprendizaje Profundo. En términos simples, el aprendizaje profundo consiste en diseñar y entrenar una red neuronal de gran complejidad y tamaño con una inmensa cantidad de datos. Esta creciente complejidad propone nuevos desafíos, siendo de especial relevancia la optimización del diseño dado un problema. Tradicionalmente, este problema ha sido resuelto en una combinación de conocimiento experto (humano) con prueba y error. Sin embargo, conforme la complejidad aumenta, este acercamiento se vuelve ineficiente (e impracticable). Esta tesis doctoral aborda el diseño de redes neuronales recurrentes (RNN), un tipo de red neuronal profunda, desde la neuroevolución. Concretamente, se combinan técnicas de aprendizaje automático con metaheurísticas avanzadas, con el fin de proveer una solución eficaz y eficiente. Por otra parte, se aplican las técnicas desarrolladas a problemas de la ciudad inteligente