The sine-cosine algorithm (SCA) is a new population-based meta-heuristic algorithm. In addition to exploiting sine and cosine functions to perform local and global searches (hence the name sine-cosine), the SCA introduces several random and adaptive parameters to facilitate the search process. Although it shows promising results, the search process of the SCA is vulnerable to local minima maxima due to the adoption of a fixed switch probability and the bounded magnitude of the sine and cosine functions (from -1 to 1). In this paper, we propose a new hybrid Q-learning sine-cosine- based strategy, called the Q-learning sine-cosine algorithm (QLSCA). Within the QLSCA, we eliminate the switching probability. Instead, we rely on the Q-learning algorithm (based on the penalty and reward mechanism) to dynamically identify the best operation during runtime. Additionally, we integrate two new operations (Le´vy flight motion and crossover) into the QLSCA to facilitate jumping out of local minima maxima and enhance the solution diversity. To assess its performance, we adopt the QLSCA for the combinatorial test suite minimization problem. Experimental results reveal that the QLSCA is statistically superior with regard to test suite size reduction compared to recent state-of-the-art strategies, including the original SCA, the particle swarm test generator (PSTG), adaptive particle swarm optimization (APSO) and the cuckoo search strategy (CS) at the 95 confidence level. However, concerning the comparison with discrete particle swarm optimization (DPSO), there is no significant difference in performance at the 95 confidence level. On a positive note, the QLSCA statistically outperforms the DPSO in certain configurations at the 90 confidence level.
By building on and complementing the work mentioned above, our work explores the hybridization of the Q-learning algorithm with a recently developed meta-heuristic algorithm called the SCA @cite_42 . Unlike most meta-heuristic algorithms that mimic certain physical or natural phenomena, the equation transformation used in the SCA is solely based on the sine and cosine operations. Therefore, the learning curve of the SCA is low. Although its exploitation is commendable, the exploration of the SCA is strictly bounded due to the (adaptive) shrinking magnitude of the sine and cosine functions’ multipliers during the search process. To address the issues mentioned above, we propose a new algorithm, the QLSCA. Moreover, we augment the QLSCA with two further operations (Lévy flight motion and crossover) to counterbalance its exploration and exploitation. Then, we use the Q-learning algorithm (which is based on the penalty and reward mechanism) to dynamically identify on the best operation (sine, cosine, Lévy flight motion, or crossover) during runtime.
@cite_42
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Abstract This paper proposes a novel population-based optimization algorithm called Sine Cosine Algorithm (SCA) for solving optimization problems. The SCA creates multiple initial random candidate solutions and requires them to fluctuate outwards or towards the best solution using a mathematical model based on sine and cosine functions. Several random and adaptive variables also are integrated to this algorithm to emphasize exploration and exploitation of the search space in different milestones of optimization. The performance of SCA is benchmarked in three test phases. Firstly, a set of well-known test cases including unimodal, multi-modal, and composite functions are employed to test exploration, exploitation, local optima avoidance, and convergence of SCA. Secondly, several performance metrics (search history, trajectory, average fitness of solutions, and the best solution during optimization) are used to qualitatively observe and confirm the performance of SCA on shifted two-dimensional test functions. Finally, the cross-section of an aircraft's wing is optimized by SCA as a real challenging case study to verify and demonstrate the performance of this algorithm in practice. The results of test functions and performance metrics prove that the algorithm proposed is able to explore different regions of a search space, avoid local optima, converge towards the global optimum, and exploit promising regions of a search space during optimization effectively. The SCA algorithm obtains a smooth shape for the airfoil with a very low drag, which demonstrates that this algorithm can highly be effective in solving real problems with constrained and unknown search spaces. Note that the source codes of the SCA algorithm are publicly available at http: www.alimirjalili.com SCA.html . We address the issue of using mini-batches in stochastic optimization of SVMs. We show that the same quantity, the spectral norm of the data, controls the parallelization speedup obtained for both primal stochastic subgradient descent (SGD) and stochastic dual coordinate ascent (SCDA) methods and use it to derive novel variants of mini-batched SDCA. Our guarantees for both methods are expressed in terms of the original nonsmooth primal problem based on the hinge-loss. This paper examines techniques for finding falsifying trajectories of hybrid systems using an approach that we call trajectory splicing. Many formal verification techniques for hybrid systems, including flowpipe construction, can identify plausible abstract counterexamples for property violations. However, there is often a gap between the reported abstract counterexamples and the concrete system trajectories. Our approach starts with a candidate sequence of disconnected trajectory segments, each segment lying inside a discrete mode. However, such disconnected segments do not form concrete violations due to the gaps that exist between the ending state of one segment and the starting state of the subsequent segment. Therefore, trajectory splicing uses local optimization to minimize the gap between these segments, effectively splicing them together to form a concrete trajectory. We demonstrate the use of our approach for falsifying safety properties of hybrid systems using standard optimization techniques. As such, our approach is not restricted to linear systems. We compare our approach with other falsification approaches including uniform random sampling and a robustness guided falsification approach used in the tool S-Taliro. Our preliminary evaluation clearly shows the potential of our approach to search for candidate trajectory segments and use them to find concrete property violations. We propose a partially learned approach for the solution of ill-posed inverse problems with not necessarily linear forward operators. The method builds on ideas from classical regularisation theory and recent advances in deep learning to perform learning while making use of prior information about the inverse problem encoded in the forward operator, noise model and a regularising functional. The method results in a gradient-like iterative scheme, where the 'gradient' component is learned using a convolutional network that includes the gradients of the data discrepancy and regulariser as input in each iteration. We present results of such a partially learned gradient scheme on a non-linear tomographic inversion problem with simulated data from both the Sheep-Logan phantom as well as a head CT. The outcome is compared against filtered backprojection and total variation reconstruction and the proposed method provides a 5.4 dB PSNR improvement over the total variation reconstruction while being significantly faster, giving reconstructions of pixel images in about 0.4 s using a single graphics processing unit (GPU). With the goal to generate more scalable algorithms with higher efficiency and fewer open parameters, reinforcement learning (RL) has recently moved towards combining classical techniques from optimal control and dynamic programming with modern learning techniques from statistical estimation theory. In this vein, this paper suggests to use the framework of stochastic optimal control with path integrals to derive a novel approach to RL with parameterized policies. While solidly grounded in value function estimation and optimal control based on the stochastic Hamilton-Jacobi-Bellman (HJB) equations, policy improvements can be transformed into an approximation problem of a path integral which has no open algorithmic parameters other than the exploration noise. The resulting algorithm can be conceived of as model-based, semi-model-based, or even model free, depending on how the learning problem is structured. The update equations have no danger of numerical instabilities as neither matrix inversions nor gradient learning rates are required. Our new algorithm demonstrates interesting similarities with previous RL research in the framework of probability matching and provides intuition why the slightly heuristically motivated probability matching approach can actually perform well. Empirical evaluations demonstrate significant performance improvements over gradient-based policy learning and scalability to high-dimensional control problems. Finally, a learning experiment on a simulated 12 degree-of-freedom robot dog illustrates the functionality of our algorithm in a complex robot learning scenario. We believe that Policy Improvement with Path Integrals (PI2) offers currently one of the most efficient, numerically robust, and easy to implement algorithms for RL based on trajectory roll-outs. In this paper, we propose an extremely efficient algorithm for visual re-ranking. By considering the original pairwise distance in the contextual space, we develop a feature vector called sparse contextual activation (SCA) that encodes the local distribution of an image. Hence, re-ranking task can be simply accomplished by vector comparison under the generalized Jaccard metric, which has its theoretical meaning in the fuzzy set theory. In order to improve the time efficiency of re-ranking procedure, inverted index is successfully introduced to speed up the computation of generalized Jaccard metric. As a result, the average time cost of re-ranking for a certain query can be controlled within 1 ms. Furthermore, inspired by query expansion, we also develop an additional method called local consistency enhancement on the proposed SCA to improve the retrieval performance in an unsupervised manner. On the other hand, the retrieval performance using a single feature may not be satisfactory enough, which inspires us to fuse multiple complementary features for accurate retrieval. Based on SCA, a robust feature fusion algorithm is exploited that also preserves the characteristic of high time efficiency. We assess our proposed method in various visual re-ranking tasks. Experimental results on Princeton shape benchmark (3D object), WM-SRHEC07 (3D competition), YAEL data set B (face), MPEG-7 data set (shape), and Ukbench data set (image) manifest the effectiveness and efficiency of SCA. This paper presents an evaluation of the suitability of reinforcement learning (RL) algorithms to perform the task of micro-managing combat units in the commercial real-time strategy (RTS) game StarCraft:Broodwar (SC:BW). The applied techniques are variations of the common Q-learning and Sarsa algorithms, both simple one-step versions as well as more sophisticated versions that use eligibility traces to offset the problem of delayed reward. The aim is the design of an agent that is able to learn in an unsupervised manner in a complex environment, eventually taking over tasks that had previously been performed by non-adaptive, deterministic game AI. The preliminary results presented in this paper show the viability of the RL algorithms at learning the selected task. Depending on whether the focus lies on maximizing the reward or on the speed of learning, among the evaluated algorithms one-step Q-learning and Sarsa(λ) prove best at learning to manage combat units. We present a practical, stratified autocalibration algorithm with theoretical guarantees of global optimality. Given a projective reconstruction, the first stage of the algorithm upgrades it to affine by estimating the position of the plane at infinity. The plane at infinity is computed by globally minimizing a least squares formulation of the modulus constraints. In the second stage, the algorithm upgrades this affine reconstruction to a metric one by globally minimizing the infinite homography relation to compute the dual image of the absolute conic (DIAC). The positive semidefiniteness of the DIAC is explicitly enforced as part of the optimization process, rather than as a post-processing step. For each stage, we construct and minimize tight convex relaxations of the highly non-convex objective functions in a branch and bound optimization framework. We exploit the problem structure to restrict the search space for the DIAC and the plane at infinity to a small, fixed number of branching dimensions, independent of the number of views. Experimental evidence of the accuracy, speed and scalability of our algorithm is presented on synthetic and real data. MATLAB code for the implementation is made available to the community. Traditional Reinforcement Learning methods are insufficient for AGIs who must be able to learn to deal with Partially Observable Markov Decision Processes. We investigate a novel method for dealing with this problem: standard RL techniques using as input the hidden layer output of a Sequential Constant-Size Compressor (SCSC). The SCSC takes the form of a sequential Recurrent Auto-Associative Memory, trained through standard back-propagation. Results illustrate the feasibility of this approach -- this system learns to deal with highdimensional visual observations (up to 640 pixels) in partially observable environments where there are long time lags (up to 12 steps) between relevant sensory information and necessary action. This paper addresses classification tasks on a particular target domain in which labeled training data are only available from source domains different from (but related to) the target. Two closely related frameworks, domain adaptation and domain generalization, are concerned with such tasks, where the only difference between those frameworks is the availability of the unlabeled target data: domain adaptation can leverage unlabeled target information, while domain generalization cannot. We propose Scatter Component Analyis (SCA), a fast representation learning algorithm that can be applied to both domain adaptation and domain generalization. SCA is based on a simple geometrical measure, i.e., scatter , which operates on reproducing kernel Hilbert space . SCA finds a representation that trades between maximizing the separability of classes, minimizing the mismatch between domains, and maximizing the separability of data; each of which is quantified through scatter . The optimization problem of SCA can be reduced to a generalized eigenvalue problem, which results in a fast and exact solution. Comprehensive experiments on benchmark cross-domain object recognition datasets verify that SCA performs much faster than several state-of-the-art algorithms and also provides state-of-the-art classification accuracy in both domain adaptation and domain generalization. We also show that scatter can be used to establish a theoretical generalization bound in the case of domain adaptation. Motivated by the recent advancement of quantum processors, we investigate quantum approximate optimization algorithm (QAOA) to employ quasi-maximum-likelihood (ML) decoding of classical channel codes. QAOA is a hybrid quantum-classical variational algorithm, which is advantageous for the near-term noisy intermediate-scale quantum (NISQ) devices, where the fidelity of quantum gates is limited by noise and decoherence. We first describe how to construct Ising Hamiltonian model to realize quasi-ML decoding with QAOA. For level-1 QAOA, we derive the systematic way to generate theoretical expressions of cost expectation for arbitrary binary linear codes. Focusing on (7, 4) Hamming code as an example, we analyze the impact of the degree distribution in associated generator matrix on the quantum decoding performance. The excellent performance of higher-level QAOA decoding is verified when Pauli rotation angles are optimized through meta-heuristic variational quantum eigensolver (VQE). Furthermore, we demonstrate the QAOA decoding performance in a real quantum device. In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of , we propose a method that introduces the dynamic margin in the manifold learning triplet loss function. Such a loss function is designed to map images of different objects under different poses to a lower-dimensional, similarity-preserving descriptor space on which efficient nearest neighbor search algorithms can be applied. Introducing the dynamic margin allows for faster training times and better accuracy of the resulting low-dimensional manifolds. Furthermore, we contribute the following: adding in-plane rotations (ignored by the baseline method) to the training, proposing new background noise types that help to better mimic realistic scenarios and improve accuracy with respect to clutter, adding surface normals as another powerful image modality representing an object surface leading to better performance than merely depth, and finally implementing an efficient online batch generation that allows for better variability during the training phase. We perform an exhaustive evaluation to demonstrate the effects of our contributions. Additionally, we assess the performance of the algorithm on the large BigBIRD dataset to demonstrate good scalability properties of the pipeline with respect to the number of models. Publisher Summary This chapter describes two cooperative learning algorithms that can reduce search and decouple the learning rate from state-space size. The first algorithm, called Learning with an External Critic (LEC), is based on the idea of a mentor who watches the learner and generates immediate rewards in response to its most recent actions. This reward is then used temporarily to bias the learner's control strategy. The second algorithm, called Learning By Watching ( LBW), is based on the idea that an agent can gain experience vicariously by relating the observed behavior of others to its own. While LEC algorithms require interaction with knowledgeable agents, LBW algorithms can be effective even when interaction is with equally naive peers. The search time complexity is analyzed for pure unbiased Q-learning, LEC, and LB W algorithms for an important class of state spaces. Generally, the results indicate that unbiased Q-learning can have a search time that is exponential in the depth of the state space, while the LEC and LB W algorithms require at most time linear in the state space size and under appropriate conditions, time independent of the state space size and proportional to the length of the optimal solution path. Homogeneous state spaces are useful for studying the scaling properties of reinforcement learning algorithms because they are analytically tractable. There is extensive literature on using convex optimization to derive piece-wise polynomial trajectories for controlling differential flat systems with applications to three-dimensional flight for Micro Aerial Vehicles. In this work, we propose a method to formulate trajectory generation as a quadratic program (QP) using the concept of a Safe Flight Corridor (SFC). The SFC is a collection of convex overlapping polyhedra that models free space and provides a connected path from the robot to the goal position. We derive an efficient convex decomposition method that builds the SFC from a piece-wise linear skeleton obtained using a fast graph search technique. The SFC provides a set of linear inequality constraints in the QP allowing real-time motion planning. Because the range and field of view of the robot's sensors are limited, we develop a framework of Receding Horizon Planning , which plans trajectories within a finite footprint in the local map, continuously updating the trajectory through a re-planning process. The re-planning process takes between 50 to 300 ms for a large and cluttered map. We show the feasibility of our approach, its completeness and performance, with applications to high-speed flight in both simulated and physical experiments using quadrotors. We present a novel action recognition method based on space-time locally adaptive regression kernels and the matrix cosine similarity measure. The proposed method uses a single example of an action as a query to find similar matches. It does not require prior knowledge about actions, foreground background segmentation, or any motion estimation or tracking. Our method is based on the computation of novel space-time descriptors from the query video which measure the likeness of a voxel to its surroundings. Salient features are extracted from said descriptors and compared against analogous features from the target video. This comparison is done using a matrix generalization of the cosine similarity measure. The algorithm yields a scalar resemblance volume, with each voxel indicating the likelihood of similarity between the query video and all cubes in the target video. Using nonparametric significance tests by controlling the false discovery rate, we detect the presence and location of actions similar to the query video. High performance is demonstrated on challenging sets of action data containing fast motions, varied contexts, and complicated background. Further experiments on the Weizmann and KTH data sets demonstrate state-of-the-art performance in action categorization. In this paper we study new stochastic approximation (SA) type algorithms, namely, the accelerated SA (AC-SA), for solving strongly convex stochastic composite optimization (SCO) problems. Specifically, by introducing a domain shrinking procedure, we significantly improve the large-deviation results associated with the convergence rate of a nearly optimal AC-SA algorithm presented by Ghadimi and Lan in [SIAM J. Optim., 22 (2012), pp 1469--1492]. Moreover, we introduce a multistage AC-SA algorithm, which possesses an optimal rate of convergence for solving strongly convex SCO problems in terms of the dependence on not only the target accuracy, but also a number of problem parameters and the selection of initial points. To the best of our knowledge, this is the first time that such an optimal method has been presented in the literature. From our computational results, these AC-SA algorithms can substantially outperform the classical SA and some other SA type algorithms for solving certain classes of strongly... Recently it has been shown that policy-gradient methods for reinforcement learning can be utilized to train deep end-to-end systems directly on non-differentiable metrics for the task at hand. In this paper we consider the problem of optimizing image captioning systems using reinforcement learning, and show that by carefully optimizing our systems using the test metrics of the MSCOCO task, significant gains in performance can be realized. Our systems are built using a new optimization approach that we call self-critical sequence training (SCST). SCST is a form of the popular REINFORCE algorithm that, rather than estimating a "baseline" to normalize the rewards and reduce variance, utilizes the output of its own test-time inference algorithm to normalize the rewards it experiences. Using this approach, estimating the reward signal (as actor-critic methods must do) and estimating normalization (as REINFORCE algorithms typically do) is avoided, while at the same time harmonizing the model with respect to its test-time inference procedure. Empirically we find that directly optimizing the CIDEr metric with SCST and greedy decoding at test-time is highly effective. Our results on the MSCOCO evaluation sever establish a new state-of-the-art on the task, improving the best result in terms of CIDEr from 104.9 to 114.7. Recently, the hybridization between evolutionary algorithms and other metaheuristics has shown very good performances in many kinds of multiobjective optimization problems (MOPs), and thus has attracted considerable attentions from both academic and industrial communities. In this paper, we propose a novel hybrid multiobjective evolutionary algorithm (HMOEA) for real-valued MOPs by incorporating the concepts of personal best and global best in particle swarm optimization and multiple crossover operators to update the population. One major feature of the HMOEA is that each solution in the population maintains a nondominated archive of personal best and the update of each solution is in fact the exploration of the region between a selected personal best and a selected global best from the external archive. Before the exploration, a selfadaptive selection mechanism is developed to determine an appropriate crossover operator from several candidates so as to improve the robustness of the HMOEA for different instances of MOPs. Besides the selection of global best from the external archive, the quality of the external archive is also considered in the HMOEA through a propagating mechanism. Computational study on the biobjective and three-objective benchmark problems shows that the HMOEA is competitive or superior to previous multiobjective algorithms in the literature. It is common practice to decay the learning rate. Here we show one can usually obtain the same learning curve on both training and test sets by instead increasing the batch size during training. This procedure is successful for stochastic gradient descent (SGD), SGD with momentum, Nesterov momentum, and Adam. It reaches equivalent test accuracies after the same number of training epochs, but with fewer parameter updates, leading to greater parallelism and shorter training times. We can further reduce the number of parameter updates by increasing the learning rate @math and scaling the batch size @math . Finally, one can increase the momentum coefficient @math and scale @math , although this tends to slightly reduce the test accuracy. Crucially, our techniques allow us to repurpose existing training schedules for large batch training with no hyper-parameter tuning. We train Inception-ResNet-V2 on ImageNet to @math validation accuracy in under 2500 parameter updates, efficiently utilizing training batches of 65536 images. Abstract A fundamental step in the diagnosis of cardiovascular diseases, automatic left ventricle (LV) segmentation in cardiac magnetic resonance images (MRIs) is still acknowledged to be a difficult problem. Most of the existing algorithms require either extensive training or intensive user inputs. This study investigates fast detection of the left ventricle (LV) endo- and epicardium surfaces in cardiac MRI via convex relaxation and distribution matching. The algorithm requires a single subject for training and a very simple user input, which amounts to a single point (mouse click) per target region (cavity or myocardium). It seeks cavity and myocardium regions within each 3D phase by optimizing two functionals, each containing two distribution-matching constraints: (1) a distance-based shape prior and (2) an intensity prior. Based on a global measure of similarity between distributions, the shape prior is intrinsically invariant with respect to translation and rotation. We further introduce a scale variable from which we derive a fixed-point equation (FPE), thereby achieving scale-invariance with only few fast computations. The proposed algorithm relaxes the need for costly pose estimation (or registration) procedures and large training sets, and can tolerate shape deformations, unlike template (or atlas) based priors. Our formulation leads to a challenging problem, which is not directly amenable to convex-optimization techniques. For each functional, we split the problem into a sequence of sub-problems, each of which can be solved exactly and globally via a convex relaxation and the augmented Lagrangian method. Unlike related graph-cut approaches, the proposed convex-relaxation solution can be parallelized to reduce substantially the computational time for 3D domains (or higher), extends directly to high dimensions, and does not have the grid-bias problem. Our parallelized implementation on a graphics processing unit (GPU) demonstrates that the proposed algorithm requires about 3.87 s for a typical cardiac MRI volume, a speed-up of about five times compared to a standard implementation. We report a performance evaluation over 400 volumes acquired from 20 subjects, which shows that the obtained 3D surfaces correlate with independent manual delineations. We further demonstrate experimentally that (1) the performance of the algorithm is not significantly affected by the choice of the training subject and (2) the shape description we use does not change significantly from one subject to another. These results support the fact that a single subject is sufficient for training the proposed algorithm.