Algorithm and Experiment Design with Heuristiclab Instructor Biographies
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AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies. -
A Covariance Matrix Self-Adaptation Evolution Strategy for Optimization Under Linear Constraints Patrick Spettel, Hans-Georg Beyer, and Michael Hellwig
IEEE TRANSACTIONS ON EVOLUTIONARY COMPUTATION, VOL. XX, NO. X, MONTH XXXX 1 A Covariance Matrix Self-Adaptation Evolution Strategy for Optimization under Linear Constraints Patrick Spettel, Hans-Georg Beyer, and Michael Hellwig Abstract—This paper addresses the development of a co- functions cannot be expressed in terms of (exact) mathematical variance matrix self-adaptation evolution strategy (CMSA-ES) expressions. Moreover, if that information is incomplete or if for solving optimization problems with linear constraints. The that information is hidden in a black-box, EAs are a good proposed algorithm is referred to as Linear Constraint CMSA- ES (lcCMSA-ES). It uses a specially built mutation operator choice as well. Such methods are commonly referred to as together with repair by projection to satisfy the constraints. The direct search, derivative-free, or zeroth-order methods [15], lcCMSA-ES evolves itself on a linear manifold defined by the [16], [17], [18]. In fact, the unconstrained case has been constraints. The objective function is only evaluated at feasible studied well. In addition, there is a wealth of proposals in the search points (interior point method). This is a property often field of Evolutionary Computation dealing with constraints in required in application domains such as simulation optimization and finite element methods. The algorithm is tested on a variety real-parameter optimization, see e.g. [19]. This field is mainly of different test problems revealing considerable results. dominated by Particle Swarm Optimization (PSO) algorithms and Differential Evolution (DE) [20], [21], [22]. For the case Index Terms—Constrained Optimization, Covariance Matrix Self-Adaptation Evolution Strategy, Black-Box Optimization of constrained discrete optimization, it has been shown that Benchmarking, Interior Point Optimization Method turning constrained optimization problems into multi-objective optimization problems can achieve better performance than I. -
Metaheuristics ``In the Large''
Metaheuristics “In the Large” Jerry Swan∗, Steven Adriaensen, Alexander E. I. Brownlee, Kevin Hammond, Colin G. Johnson, Ahmed Kheiri, Faustyna Krawiec, J. J. Merelo, Leandro L. Minku, Ender Ozcan,¨ Gisele L. Pappa, Pablo Garc´ıa-S´anchez, Kenneth S¨orensen, Stefan Voß, Markus Wagner, David R. White Abstract Following decades of sustained improvement, metaheuristics are one of the great success stories of optimization research. However, in order for research in metaheuristics to avoid fragmentation and a lack of reproducibility, there is a pressing need for stronger scientific and computational infrastructure to sup- port the development, analysis and comparison of new approaches. To this end, we present the vision and progress of the “Metaheuristics ‘In the Large’ ” project. The conceptual uderpinnings of the project are: truly extensible algo- rithm templates that support reuse without modification, white box problem descriptions that provide generic support for the injection of domain specific knowledge, and remotely accessible frameworks, components and problems that will enhance reproducibility and accelerate the field’s progress. We ar- gue that, via principled choice of infrastructure support, the field can pur- sue a higher level of scientific enquiry. We describe our vision and report on progress, showing how the adoption of common protocols for all metaheuris- tics can help liberate the potential of the field, easing the exploration of the design space of metaheuristics. Keywords: Evolutionary Computation, Operational Research, Heuristic design, Heuristic methods, Architecture, Frameworks, Interoperability 1. Introduction arXiv:2011.09821v4 [cs.NE] 3 Jun 2021 Optimization problems have myriad real world applications [42] and have motivated a wealth of research since before the advent of the digital computer [25]. -
Natural Evolution Strategies
Natural Evolution Strategies Daan Wierstra, Tom Schaul, Jan Peters and Juergen Schmidhuber Abstract— This paper presents Natural Evolution Strategies be crucial to find the right domain-specific trade-off on issues (NES), a novel algorithm for performing real-valued ‘black such as convergence speed, expected quality of the solutions box’ function optimization: optimizing an unknown objective found and the algorithm’s sensitivity to local suboptima on function where algorithm-selected function measurements con- stitute the only information accessible to the method. Natu- the fitness landscape. ral Evolution Strategies search the fitness landscape using a A variety of algorithms has been developed within this multivariate normal distribution with a self-adapting mutation framework, including methods such as Simulated Anneal- matrix to generate correlated mutations in promising regions. ing [5], Simultaneous Perturbation Stochastic Optimiza- NES shares this property with Covariance Matrix Adaption tion [6], simple Hill Climbing, Particle Swarm Optimiza- (CMA), an Evolution Strategy (ES) which has been shown to perform well on a variety of high-precision optimization tion [7] and the class of Evolutionary Algorithms, of which tasks. The Natural Evolution Strategies algorithm, however, is Evolution Strategies (ES) [8], [9], [10] and in particular its simpler, less ad-hoc and more principled. Self-adaptation of the Covariance Matrix Adaption (CMA) instantiation [11] are of mutation matrix is derived using a Monte Carlo estimate of the great interest to us. natural gradient towards better expected fitness. By following Evolution Strategies, so named because of their inspira- the natural gradient instead of the ‘vanilla’ gradient, we can ensure efficient update steps while preventing early convergence tion from natural Darwinian evolution, generally produce due to overly greedy updates, resulting in reduced sensitivity consecutive generations of samples. -
Particle Swarm Optimization
PARTICLE SWARM OPTIMIZATION Thesis Submitted to The School of Engineering of the UNIVERSITY OF DAYTON In Partial Fulfillment of the Requirements for The Degree of Master of Science in Electrical Engineering By SaiPrasanth Devarakonda UNIVERSITY OF DAYTON Dayton, Ohio May, 2012 PARTICLE SWARM OPTIMIZATION Name: Devarakonda, SaiPrasanth APPROVED BY: Raul Ordonez, Ph.D. John Loomis, Ph.D. Advisor Committee Chairman Committee Member Associate Professor Associate Professor Electrical & Computer Engineering Electrical & Computer Engineering Robert Penno, Ph.D. Committee Member Associate Professor Electrical & Computer Engineering John G. Weber, Ph.D. Tony E. Saliba, Ph.D. Associate Dean Dean, School of Engineering School of Engineering & Wilke Distinguished Professor ii ABSTRACT PARTICLE SWARM OPTIMIZATION Name: Devarakonda, SaiPrasanth University of Dayton Advisor: Dr. Raul Ordonez The particle swarm algorithm is a computational method to optimize a problem iteratively. As the neighborhood determines the sufficiency and frequency of information flow, the static and dynamic neighborhoods are discussed. The characteristics of the different methods for the selection of the algorithm for a particular problem are summarized. The performance of particle swarm optimization with dynamic neighborhood is investigated by three different methods. In the present work two more benchmark functions are tested using the algorithm. Conclusions are drawn by testing the different benchmark functions that reflect the performance of the PSO with dynamic neighborhood. And all the benchmark functions are analyzed by both Synchronous and Asynchronous PSO algorithms. iii This thesis is dedicated to my grandmother Jogi Lakshmi Narasamma. iv ACKNOWLEDGMENTS I would like to thank my advisor Dr.Raul Ordonez for being my mentor, guide and personally supporting during my graduate studies and while carrying out the thesis work and offering me excellent ideas. -
Metaheuristic Optimization Frameworks: a Survey and Benchmarking
Soft Comput DOI 10.1007/s00500-011-0754-8 ORIGINAL PAPER Metaheuristic optimization frameworks: a survey and benchmarking Jose´ Antonio Parejo • Antonio Ruiz-Corte´s • Sebastia´n Lozano • Pablo Fernandez Ó Springer-Verlag 2011 Abstract This paper performs an unprecedented com- and affordable time and cost. However, heuristics are parative study of Metaheuristic optimization frameworks. usually based on specific characteristics of the problem at As criteria for comparison a set of 271 features grouped in hand, which makes their design and development a com- 30 characteristics and 6 areas has been selected. These plex task. In order to solve this drawback, metaheuristics features include the different metaheuristic techniques appear as a significant advance (Glover 1977); they are covered, mechanisms for solution encoding, constraint problem-agnostic algorithms that can be adapted to incor- handling, neighborhood specification, hybridization, par- porate the problem-specific knowledge. Metaheuristics allel and distributed computation, software engineering have been remarkably developed in recent decades (Voß best practices, documentation and user interface, etc. A 2001), becoming popular and being applied to many metric has been defined for each feature so that the scores problems in diverse areas (Glover and Kochenberger 2002; obtained by a framework are averaged within each group of Back et al. 1997). However, when new are considered, features, leading to a final average score for each frame- metaheuristics should be implemented and tested, implying work. Out of 33 frameworks ten have been selected from costs and risks. the literature using well-defined filtering criteria, and the As a solution, object-oriented paradigm has become a results of the comparison are analyzed with the aim of successful mechanism used to ease the burden of applica- identifying improvement areas and gaps in specific tion development and particularly, on adapting a given frameworks and the whole set. -
A Restart CMA Evolution Strategy with Increasing Population Size
1769 A Restart CMA Evolution Strategy With Increasing Population Size Anne Auger Nikolaus Hansen CoLab Computational Laboratory, CSE Lab, ETH Zurich, Switzerland ETH Zurich, Switzerland [email protected] [email protected] Abstract- In this paper we introduce a restart-CMA- 2 The restart CMA-ES evolution strategy, where the population size is increased for each restart (IPOP). By increasing the population The (,uw, )-CMA-ES In this paper we use the (,uw, )- size the search characteristic becomes more global af- CMA-ES thoroughly described in [3]. We sum up the gen- ter each restart. The IPOP-CMA-ES is evaluated on the eral principle of the algorithm in the following and refer to test suit of 25 functions designed for the special session [3] for the details. on real-parameter optimization of CEC 2005. Its perfor- For generation g + 1, offspring are sampled indepen- mance is compared to a local restart strategy with con- dently according to a multi-variate normal distribution stant small population size. On unimodal functions the ) fork=1,... performance is similar. On multi-modal functions the -(9+1) A-()(K ( (9))2C(g)) local restart strategy significantly outperforms IPOP in where denotes a normally distributed random 4 test cases whereas IPOP performs significantly better N(mr, C) in 29 out of 60 tested cases. vector with mean m' and covariance matrix C. The , best offspring are recombined into the new mean value (Y)(0+1) = Z wix(-+w), where the positive weights 1 Introduction w E JR sum to one. The equations for updating the re- The Covariance Matrix Adaptation Evolution Strategy maining parameters of the normal distribution are given in (CMA-ES) [5, 7, 4] is an evolution strategy that adapts [3]: Eqs. -
Neuroevolution Strategies for Episodic Reinforcement Learning ∗ Verena Heidrich-Meisner , Christian Igel
J. Algorithms 64 (2009) 152–168 Contents lists available at ScienceDirect Journal of Algorithms Cognition, Informatics and Logic www.elsevier.com/locate/jalgor Neuroevolution strategies for episodic reinforcement learning ∗ Verena Heidrich-Meisner , Christian Igel Institut für Neuroinformatik, Ruhr-Universität Bochum, 44780 Bochum, Germany article info abstract Article history: Because of their convincing performance, there is a growing interest in using evolutionary Received 30 April 2009 algorithms for reinforcement learning. We propose learning of neural network policies Available online 8 May 2009 by the covariance matrix adaptation evolution strategy (CMA-ES), a randomized variable- metric search algorithm for continuous optimization. We argue that this approach, Keywords: which we refer to as CMA Neuroevolution Strategy (CMA-NeuroES), is ideally suited for Reinforcement learning Evolution strategy reinforcement learning, in particular because it is based on ranking policies (and therefore Covariance matrix adaptation robust against noise), efficiently detects correlations between parameters, and infers a Partially observable Markov decision process search direction from scalar reinforcement signals. We evaluate the CMA-NeuroES on Direct policy search five different (Markovian and non-Markovian) variants of the common pole balancing problem. The results are compared to those described in a recent study covering several RL algorithms, and the CMA-NeuroES shows the overall best performance. © 2009 Elsevier Inc. All rights reserved. 1. Introduction Neuroevolution denotes the application of evolutionary algorithms to the design and learning of neural networks [54,11]. Accordingly, the term Neuroevolution Strategies (NeuroESs) refers to evolution strategies applied to neural networks. Evolution strategies are a major branch of evolutionary algorithms [35,40,8,2,7]. -
Evolutionary Computation Evolution Strategies
Evolutionary computation Lecture Evolutionary Strategies CIS 412 Artificial Intelligence Umass, Dartmouth Evolution strategies Evolution strategies • Another approach to simulating natural • In 1963 two students of the Technical University of Berlin, Ingo Rechenberg and Hans-Paul Schwefel, evolution was proposed in Germany in the were working on the search for the optimal shapes of early 1960s. Unlike genetic algorithms, bodies in a flow. They decided to try random changes in this approach − called an evolution the parameters defining the shape following the example of natural mutation. As a result, the evolution strategy strategy − was designed to solve was born. technical optimization problems. • Evolution strategies were developed as an alternative to the engineer’s intuition. • Unlike GAs, evolution strategies use only a mutation operator. Basic evolution strategy Basic evolution strategy • In its simplest form, termed as a (1+1)- evolution • Step 2 - Randomly select an initial value for each strategy, one parent generates one offspring per parameter from the respective feasible range. The set of generation by applying normally distributed mutation. these parameters will constitute the initial population of The (1+1)-evolution strategy can be implemented as parent parameters: follows: • Step 1 - Choose the number of parameters N to represent the problem, and then determine a feasible range for each parameter: • Step 3 - Calculate the solution associated with the parent Define a standard deviation for each parameter and the parameters: function to be optimized. 1 Basic evolution strategy Basic evolution strategy • Step 4 - Create a new (offspring) parameter by adding a • Step 6 - Compare the solution associated with the normally distributed random variable a with mean zero offspring parameters with the one associated with the and pre-selected deviation δ to each parent parameter: parent parameters. -
Parameter Meta-Optimization of Metaheuristic Optimization Algorithms
Fachhochschul-Masterstudiengang SOFTWARE ENGINEERING 4232 Hagenberg, Austria Parameter Meta-Optimization of Metaheuristic Optimization Algorithms Diplomarbeit zur Erlangung des akademischen Grades Master of Science in Engineering Eingereicht von Christoph Neumüller, BSc Begutachter: Prof. (FH) DI Dr. Stefan Wagner September 2011 Erklärung Hiermit erkläre ich an Eides statt, dass ich die vorliegende Arbeit selbstständig und ohne fremde Hilfe verfasst, andere als die angegebenen Quellen und Hilfsmit- tel nicht benutzt und die aus anderen Quellen entnommenen Stellen als solche gekennzeichnet habe. Hagenberg, am 4. September 2011 Christoph Neumüller, BSc. ii Contents Erklärung ii Abstract 1 Kurzfassung 2 1 Introduction 3 1.1 Motivation and Goal . .3 1.2 Structure and Content . .4 2 Theoretical Foundations 5 2.1 Metaheuristic Optimization . .5 2.1.1 Trajectory-Based Metaheuristics . .6 2.1.2 Population-Based Metaheuristics . .7 2.1.3 Optimization Problems . 11 2.1.4 Operators . 13 2.2 Parameter Optimization . 17 2.2.1 Parameter Control . 18 2.2.2 Parameter Tuning . 18 2.3 Related Work in Meta-Optimization . 19 3 Technical Foundations 22 3.1 HeuristicLab . 22 3.1.1 Key Concepts . 22 3.1.2 Algorithm Model . 23 3.2 HeuristicLab Hive . 25 3.2.1 Components . 26 4 Requirements 29 5 Implementation 31 5.1 Solution Encoding . 31 5.1.1 Parameter Trees in HeuristicLab . 31 5.1.2 Parameter Configuration Trees . 33 iii Contents iv 5.1.3 Search Ranges . 36 5.1.4 Symbolic Expression Grammars . 37 5.2 Fitness Function . 39 5.2.1 Handling of Infeasible Solutions . 41 5.3 Operators . 41 5.3.1 Solution Creator . -
A Note on Evolutionary Algorithms and Its Applications
Bhargava, S. (2013). A Note on Evolutionary Algorithms and Its Applications. Adults Learning Mathematics: An International Journal, 8(1), 31-45 A Note on Evolutionary Algorithms and Its Applications Shifali Bhargava Dept. of Mathematics, B.S.A. College, Mathura (U.P)- India. <[email protected]> Abstract This paper introduces evolutionary algorithms with its applications in multi-objective optimization. Here elitist and non-elitist multiobjective evolutionary algorithms are discussed with their advantages and disadvantages. We also discuss constrained multiobjective evolutionary algorithms and their applications in various areas. Key words: evolutionary algorithms, multi-objective optimization, pareto-optimality, elitist. Introduction The term evolutionary algorithm (EA) stands for a class of stochastic optimization methods that simulate the process of natural evolution. The origins of EAs can be traced back to the late 1950s, and since the 1970’s several evolutionary methodologies have been proposed, mainly genetic algorithms, evolutionary programming, and evolution strategies. All of these approaches operate on a set of candidate solutions. Using strong simplifications, this set is subsequently modified by the two basic principles of evolution: selection and variation. Selection represents the competition for resources among living beings. Some are better than others and more likely to survive and to reproduce their genetic information. In evolutionary algorithms, natural selection is simulated by a stochastic selection process. Each solution is given a chance to reproduce a certain number of times, dependent on their quality. Thereby, quality is assessed by evaluating the individuals and assigning them scalar fitness values. The other principle, variation, imitates natural capability of creating “new” living beings by means of recombination and mutation. -
Rapid and Flexible User-Defined Low-Level Hybridization for Metaheuristics Algorithm in Software Framework
Journal of Software Engineering and Applications, 2012, 5, 873-882 873 http://dx.doi.org/10.4236/jsea.2012.511102 Published Online November 2012 (http://www.SciRP.org/journal/jsea) Rapid and Flexible User-Defined Low-Level Hybridization for Metaheuristics Algorithm in Software Framework S. Masrom*, Siti Z. Z. Abidin, N. Omar Faculty of Computer and Mathematical Sciences, Universiti Teknologi MARA, Shah Alam, Malaysia. Email: *[email protected], [email protected], [email protected] Received September 23rd, 2012; revised October 21st, 2012; accepted October 30th, 2012 ABSTRACT The metaheuristics algorithm is increasingly important in solving many kinds of real-life optimization problems but the implementation involves programming difficulties. As a result, many researchers have relied on software framework to accelerate the development life cycle. However, the available software frameworks were mostly designed for rapid de- velopment rather than flexible programming. Therefore, in order to extend software functions, this approach involves modifying software libraries which requires the programmers to have in-depth understanding about the internal working structure of software and the programming language. Besides, it has restricted programmers for implementing flexible user-defined low-level hybridization. This paper presents the concepts and formal definition of metaheuristics and its low-level hybridization. In addition, the weaknesses of current programming approaches supported by available soft- ware frameworks for metaheuristics are discussed. Responding to the deficiencies, this paper introduces a rapid and flexible software framework with scripting language environment. This approach is more flexible for programmers to create a variety of user-defined low-level hybridization rather than bounded with built-in metaheuristics strategy in software libraries.