This paper presents a technique called evolving self-supervised neural networks - neural networks that can teach themselves, intrinsically motivated, without external supervision or reward. The proposed method presents some sort-of paradigm shift, and differs greatly from both traditional gradient-based learning and evolutionary algorithms in that it combines the metaphor of evolution and learning, more specifically self-learning, together, rather than treating these phenomena alternatively. I simulate a multi-agent system in which neural networks are used to control autonomous foraging agents with little domain knowledge. Experimental results show that only evolved self-supervised agents can demonstrate some sort of intelligent behaviour, but not evolution or self-learning alone. Indications for future work on evolving intelligence are also presented.
Scientists at DeepMind recently also used the same idea of the Baldwin Effect, using a genetic algorithm to evolve the initial weights for deep neural networks @cite_6 . By combining the advantage of searching over a vast distribution of weights of evolutionary search and the exploitative power of a gradient descent learning, they reported a that can solve a multiple tasks including regression and physical robot environments. This result is an indication to create meta-learning, another step towards AGI.
@cite_6
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The scope of the Baldwin effect was recently called into question by two papers that closely examined the seminal work of Hinton and Nowlan. To this date there has been no demonstration of its necessity in empirically challenging tasks. Here we show that the Baldwin effect is capable of evolving few-shot supervised and reinforcement learning mechanisms, by shaping the hyperparameters and the initial parameters of deep learning algorithms. Furthermore it can genetically accommodate strong learning biases on the same set of problems as a recent machine learning algorithm called MAML "Model Agnostic Meta-Learning" which uses second-order gradients instead of evolution to learn a set of reference parameters (initial weights) that can allow rapid adaptation to tasks sampled from a distribution. Whilst in simple cases MAML is more data efficient than the Baldwin effect, the Baldwin effect is more general in that it does not require gradients to be backpropagated to the reference parameters or hyperparameters, and permits effectively any number of gradient updates in the inner loop. The Baldwin effect learns strong learning dependent biases, rather than purely genetically accommodating fixed behaviours in a learning independent manner. The so-called Baldwin Effect generally says how learning, as a form of ontogenetic adaptation, can influence the process of phylogenetic adaptation, or evolution. This idea has also been taken into computation in which evolution and learning are used as computational metaphors, including evolving neural networks. This paper presents a technique called evolving self-taught neural networks - neural networks that can teach themselves without external supervision or reward. The self-taught neural network is intrinsically motivated. Moreover, the self-taught neural network is the product of the interplay between evolution and learning. We simulate a multi-agent system in which neural networks are used to control autonomous agents. These agents have to forage for resources and compete for their own survival. Experimental results show that the interaction between evolution and the ability to teach oneself in self-taught neural networks outperform evolution and self-teaching alone. More specifically, the emergence of an intelligent foraging strategy is also demonstrated through that interaction. Indications for future work on evolving neural networks are also presented. The idea of using evolutionary computation to train artificial neural networks, or neuroevolution (NE), for reinforcement learning (RL) tasks has now been around for over 20 years. However, as RL tasks become more challenging, the networks required become larger, as do their genomes. But, scaling NE to large nets (i.e. tens of thousands of weights) is infeasible using direct encodings that map genes one-to-one to network components. In this paper, we scale-up our compressed network encoding where network weight matrices are represented indirectly as a set of Fourier-type coefficients, to tasks that require very-large networks due to the high-dimensionality of their input space. The approach is demonstrated successfully on two reinforcement learning tasks in which the control networks receive visual input: (1) a vision-based version of the octopus control task requiring networks with over 3 thousand weights, and (2) a version of the TORCS driving game where networks with over 1 million weights are evolved to drive a car around a track using video images from the driver's perspective. Evolving gradient-learning artificial neural networks (ANNs) using an evolutionary algorithm (EA) is a popular approach to address the local optima and design problems of ANN. The typical approach is to combine the strength of backpropagation (BP) in weight learning and EA's capability of searching the architecture space. However, the BP's "gradient descent" approach requires a highly computer-intensive operation that relatively restricts the search coverage of EA by compelling it to use a small population size. To address this problem, we utilized mutation-based genetic neural network (MGNN) to replace BP by using the mutation strategy of local adaptation of evolutionary programming (EP) to effect weight learning. The MGNN's mutation enables the network to dynamically evolve its structure and adapt its weights at the same time. Moreover, MGNN's EP-based encoding scheme allows for a flexible and less restricted formulation of the fitness function and makes fitness computation fast and efficient. This makes it feasible to use larger population sizes and allows MGNN to have a relatively wide search coverage of the architecture space. MGNN implements a stopping criterion where overfitness occurrences are monitored through "sliding-windows" to avoid premature learning and overlearning. Statistical analysis of its performance to some well-known classification problems demonstrate its good generalization capability. It also reveals that locally adapting or scheduling the strategy parameters embedded in each individual network may provide a proper balance between the local and global searching capabilities of MGNN.