The optimization of functions to find the best solution according to one or several objectives has a central role in many engineering and research fields. Recently, a new family of optimization algorithms, named Quality-Diversity optimization, has been introduced, and contrasts with classic algorithms. Instead of searching for a single solution, Quality-Diversity algorithms are searching for a large collection of both diverse and high-performing solutions. The role of this collection is to cover the range of possible solution types as much as possible, and to contain the best solution for each type. The contribution of this paper is threefold. Firstly, we present a unifying framework of Quality-Diversity optimization algorithms that covers the two main algorithms of this family (Multi-dimensional Archive of Phenotypic Elites and the Novelty Search with Local Competition), and that highlights the large variety of variants that can be investigated within this family. Secondly, we propose algorithms with a new selection mechanism for Quality-Diversity algorithms that outperforms all the algorithms tested in this paper. Lastly, we present a new collection management that overcomes the erosion issues observed when using unstructured collections. These three contributions are supported by extensive experimental comparisons of Quality-Diversity algorithms on three different experimental scenarios.
One of the main results that has been demonstrated with BR-Evolution experiments is that this algorithm is able to generate an effective collection of behaviors several times faster than by optimizing each solution independently (at least 5 times faster and about 10 times more accurate @cite_36 ). By recycling'' and improving solutions that are usually discarded by traditional evolutionary algorithms, the algorithm is able to quickly find necessary stepping stones. This observation correlates with the earlier presented hypothesis that QD-algorithms are likely to benefit from the diversity contained in the collection to improve their optimization and exploration abilities.
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Learning in robotics typically involves choosing a simple goal (e.g. walking) and assessing the performance of each controller with regard to this task (e.g. walking speed). However, learning advanced, input-driven controllers (e.g. walking in each direction) requires testing each controller on a large sample of the possible input signals. This costly process makes difficult to learn useful low-level controllers in robotics. Here we introduce BR-Evolution, a new evolutionary learning technique that generates a behavioral repertoire by taking advantage of the candidate solutions that are usually discarded. Instead of evolving a single, general controller, BR-evolution thus evolves a collection of simple controllers, one for each variant of the target behavior; to distinguish similar controllers, it uses a performance objective that allows it to produce a collection of diverse but high-performing behaviors. We evaluated this new technique by evolving gait controllers for a simulated hexapod robot. Results show that a single run of the EA quickly finds a collection of controllers that allows the robot to reach each point of the reachable space. Overall, BR-Evolution opens a new kind of learning algorithm that simultaneously optimizes all the achievable behaviors of a robot. The optimization of functions to find the best solution according to one or several objectives has a central role in many engineering and research fields. Recently, a new family of optimization algorithms, named quality-diversity (QD) optimization, has been introduced, and contrasts with classic algorithms. Instead of searching for a single solution, QD algorithms are searching for a large collection of both diverse and high-performing solutions. The role of this collection is to cover the range of possible solution types as much as possible, and to contain the best solution for each type. The contribution of this paper is threefold. First, we present a unifying framework of QD optimization algorithms that covers the two main algorithms of this family (multidimensional archive of phenotypic elites and the novelty search with local competition), and that highlights the large variety of variants that can be investigated within this family. Second, we propose algorithms with a new selection mechanism for QD algorithms that outperforms all the algorithms tested in this paper. Lastly, we present a new collection management that overcomes the erosion issues observed when using unstructured collections. These three contributions are supported by extensive experimental comparisons of QD algorithms on three different experimental scenarios. In contrast to the conventional role of evolution in evolutionary computation (EC) as an optimization algorithm, a new class of evolutionary algorithms has emerged in recent years that instead aim to accumulate as diverse a collection of discoveries as possible, yet where each variant in the collection is as fit as it can be. Often applied in both neuroevolution and morphological evolution, these new quality diversity (QD) algorithms are particularly well-suited to evolution's inherent strengths, thereby offering a promising niche for EC within the broader field of machine learning. However, because QD algorithms are so new, until now no comprehensive study has yet attempted to systematically elucidate their relative strengths and weaknesses under different conditions. Taking a first step in this direction, this paper introduces a new benchmark domain designed specifically to compare and contrast QD algorithms. It then shows how the degree of alignment between the measure of quality and the behavior characterization (which is an essential component of all QD algorithms to date) impacts the ultimate performance of different such algorithms. The hope is that this initial study will help to stimulate interest in QD and begin to unify the disparate ideas in the area. While evolutionary computation and evolutionary robotics take inspiration from nature, they have long focused mainly on problems of performance optimization. Yet evolution in nature can be interpreted as more nuanced than a process of simple optimization. In particular, natural evolution is a divergent search that optimizes locally within each niche as it simultaneously diversifies. This tendency to discover both quality and diversity at the same time differs from many of the conventional algorithms of machine learning, and also thereby suggests a different foundation for inferring the approach of greatest potential for evolutionary algorithms. In fact, several recent evolutionary algorithms called quality diversity (QD) algorithms(e.g. novelty search with local competition and MAP-Elites) have drawn inspiration from this more nuanced view, aiming to fill a space of possibilities with the best possible example of each type of achievable behavior. The result is a new class of algorithms that return an archive of diverse, high-quality behaviors in a single run. The aim in this paper is to study the application of QD algorithms in challenging environments (in particular complex mazes) to establish their best practices for ambitious domains in the future. In addition to providing insight into cases when QD succeeds and fails, a new approach is investigated that hybridizes multiple views of behaviors (called behavior characterizations) in the same run, which succeeds in overcoming some of the challenges associated with searching for QD with respect to a behavior characterization that is not necessarily sufficient for generating both quality and diversity at the same time. Numerous algorithms have been proposed to allow legged robots to learn to walk. However, most of these algorithms are devised to learn walking in a straight line, which is not sufficient to accomplish any real-world mission. Here we introduce the Transferability-based Behavioral Repertoire Evolution algorithm TBR-Evolution, a novel evolutionary algorithm that simultaneously discovers several hundreds of simple walking controllers, one for each possible direction. By taking advantage of solutions that are usually discarded by evolutionary processes, TBR-Evolution is substantially faster than independently evolving each controller. Our technique relies on two methods: 1 novelty search with local competition, which searches for both high-performing and diverse solutions, and 2 the transferability approach, which combines simulations and real tests to evolve controllers for a physical robot. We evaluate this new technique on a hexapod robot. Results show that with only a few dozen short experiments performed on the robot, the algorithm learns a repertoire of controllers that allows the robot to reach every point in its reachable space. Overall, TBR-Evolution introduced a new kind of learning algorithm that simultaneously optimizes all the achievable behaviors of a robot. In this paper, we address the problem of cooperative mapping (CM) using datasets collected by multiple users at different times, when the transformation between the users’ starting poses is unknown. Specifically, we formulate CM as a constrained optimization problem, in which each user's independently estimated trajectory and map are merged together by imposing geometric constraints between commonly observed point and line features. Additionally, we provide an algorithm for efficiently solving the CM problem, by taking advantage of its structure. The proposed solution is proven to be batch-least-squares (BLS) optimal over all users’ datasets, while it is less memory demanding and lends itself to parallel implementations. In particular, our solution is shown to be faster than the standard BLS solution, when the overlap between the users’ data is small. Furthermore, our algorithm is resource-aware as it is able to consistently trade accuracy for lower processing cost, by retaining only an informative subset of the common-feature constraints. Experimental results based on visual and inertial measurements collected from multiple users within large buildings are used to assess the performance of the proposed CM algorithm. We consider optimal-scaling multigrid solvers for the linear systems that arise from the discretization of problems with evolutionary behavior. Typically, solution algorithms for evolu- tion equations are based on a time-marching approach, solving sequentially for one time step after the other. Parallelism in these traditional time-integration techniques is limited to spatial parallelism. However, current trends in computer architectures are leading toward systems with more, but not faster, processors. Therefore, faster compute speeds must come from greater parallelism. One ap- proach to achieving parallelism in time is with multigrid, but extending classical multigrid methods for elliptic operators to this setting is not straightforward. In this paper, we present a nonintrusive, optimal-scaling time-parallel method based on multigrid reduction (MGR). We demonstrate optimal- ity of our multigrid-reduction-in-time algorithm (MGRIT) for solving diffusion equations in two and three space dimensions in numerical experiments. Furthermore, through both parallel performance models and actual parallel numerical results, we show that we can achieve significant speedup in comparison to sequential time marching on modern architectures. A key problem when forming effective coalitions of autonomous agents is determining the best groupings, or the optimal coalition structure, to select to achieve some goal. To this end, we present a novel, anytime algorithm for this task that is significantly faster than current solutions. Specifically, we empirically show that we are able to find solutions that are optimal in 0.082 of the time taken by the state of the art dynamic programming algorithm (for 27 agents), using much less memory (O(2n) instead of O(3n) for n agents). Moreover, our algorithm is the first to be able to find solutions for more than 17 agents in reasonable time (less than 90 minutes for 27 agents, as opposed to around 2 months for the best previous solution). This paper proposes evolutionary wall-following control of a mobile robot using an interval type-2 fuzzy controller (IT2FC) with species-differential-evolution-activated continuous ant colony optimization (SDE-CACO). Both the position and speed of a mobile robot are controlled by using two IT2FCs to improve noise resistance ability. A new cost function is defined to accurately evaluate the wall-following performance of an evolutionary IT2FC. A two-stage training approach is proposed that learns a position IT2FC followed by a speed IT2FC to optimize both the wall-following accuracy and the moving speed. The proposed learning approach avoids the time consuming task of the exhaustive collection of supervised input-output training pairs. All fuzzy rules are generated online using a clustering-based approach during the evolutionary learning process. All of the free parameters in an online-generated IT2FC are optimized using SDE-CACO, in which an SDE mutation operation is incorporated within a continuous ACO to improve its explorative ability. The proposed SDE-CACO is compared with various population-based optimization algorithms to demonstrate its efficiency and effectiveness in the wall-following control problem. This study also includes experiments that demonstrate wall-following control utilizing a real mobile robot. The Rapidly-exploring Random Tree (RRT) algorithm, based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly produces candidate feasible solutions, it tends to converge to a solution that is far from optimal. Practical applications favor “anytime” algorithms that quickly identify an initial feasible plan, then, given more computation time available during plan execution, improve the plan toward an optimal solution. This paper describes an anytime algorithm based on the RRT* which (like the RRT) finds an initial feasible solution quickly, but (unlike the RRT) almost surely converges to an optimal solution. We present two key extensions to the RRT*, committed trajectories and branch-and-bound tree adaptation, that together enable the algorithm to make more efficient use of computation time online, resulting in an anytime algorithm for real-time implementation. We evaluate the method using a series of Monte Carlo runs in a high-fidelity simulation environment, and compare the operation of the RRT and RRT* methods. We also demonstrate experimental results for an outdoor wheeled A challenge in evolutionary computation is to create representations as evolvable as those in natural evolution. This paper hypothesizes that extinction events, i.e. mass extinctions, can significantly increase evolvability, but only when combined with a divergent search algorithm, i.e. a search driven towards diversity (instead of optimality). Extinctions amplify diversity-generation by creating unpredictable evolutionary bottlenecks. Persisting through multiple such bottlenecks is more likely for lineages that diversify across many niches, resulting in indirect selection pressure for the capacity to evolve. This hypothesis is tested through experiments in two evolutionary robotics domains. The results show that combining extinction events with divergent search increases evolvability, while combining them with convergent search offers no similar benefit. The conclusion is that extinction events may provide a simple and effective mechanism to enhance performance of divergent search algorithms. A randomized model verification strategy for RANSAC is presented. The proposed method finds, like RANSAC, a solution that is optimal with user-specified probability. The solution is found in time that is close to the shortest possible and superior to any deterministic verification strategy. A provably fastest model verification strategy is designed for the (theoretical) situation when the contamination of data by outliers is known. In this case, the algorithm is the fastest possible (on the average) of all randomized RANSAC algorithms guaranteeing a confidence in the solution. The derivation of the optimality property is based on Wald's theory of sequential decision making, in particular, a modified sequential probability ratio test (SPRT). Next, the R-RANSAC with SPRT algorithm is introduced. The algorithm removes the requirement for a priori knowledge of the fraction of outliers and estimates the quantity online. We show experimentally that on standard test data, the method has performance close to the theoretically optimal and is 2 to 10 times faster than standard RANSAC and is up to four times faster than previously published methods. Recently, P. Viola and M.J. Jones (2001) presented a method for real-time object detection in images using a boosted cascade of simple features. In This work we show how an evolutionary algorithm can be used within the Adaboost framework to find new features providing better classifiers. The evolutionary algorithm replaces the exhaustive search over all features so that even very large feature sets can be searched in reasonable time. Experiments on two different sets of images prove that by the use of evolutionary search we are able to find object detectors that are faster and have higher detection rates. A new efficient MRF optimization algorithm, called Fast-PD, is proposed, which generalizes a-expansion. One of its main advantages is that it offers a substantial speedup over that method, e.g. it can be at least 3-9 times faster than a-expansion. Its efficiency is a result of the fact that Fast-PD exploits information coming not only from the original MRF problem, but also from a dual problem. Furthermore, besides static MRFs, it can also be used for boosting the performance of dynamic MRFs, i.e. MRFs varying over time. On top of that, Fast-PD makes no compromise about the optimality of its solutions: it can compute exactly the same answer as a-expansion, but, unlike that method, it can also guarantee an almost optimal solution for a much wider class of NP-hard MRF problems. Results on static and dynamic MRFs demonstrate the algorithm's efficiency and power. E.g., Fast-PD has been able to compute disparity for stereoscopic sequences in real time, with the resulting disparity coinciding with that of a-expansion. Evolutionary algorithms (EAs) are increasingly popular approaches to multi-objective optimization. One of their significant advantages is that they can directly optimize the Pareto front by evolving a population of solutions, where the recombination (also called crossover) operators are usually employed to reproduce new and potentially better solutions by mixing up solutions in the population. Recombination in multi-objective evolutionary algorithms is, however, mostly applied heuristically. In this paper, we investigate how from a theoretical viewpoint a recombination operator will affect a multi-objective EA. First, we employ artificial benchmark problems: the Weighted LPTNO problem (a generalization of the well-studied LOTZ problem), and the well-studied COCZ problem, for studying the effect of recombination. Our analysis discloses that recombination may accelerate the filling of the Pareto front by recombining diverse solutions and thus help solve multi-objective optimization. Because of this, for these two problems, we find that a multi-objective EA with recombination enabled achieves a better expected running time than any known EAs with recombination disabled. We further examine the effect of recombination on solving the multi-objective minimum spanning tree problem, which is an NP-hard problem. Following our finding on the artificial problems, our analysis shows that recombination also helps accelerate filling the Pareto front and thus helps find approximate solutions faster. Network based intruders seldom attack directly from their own hosts, but rather stage their attacks through intermediate "stepping stones" to conceal their identity and origin. To identify attackers behind stepping stones, it is necessary to be able to correlate connections through stepping stones, even if those connections are encrypted or perturbed by the intruder to prevent traceability.The timing-based approach is the most capable and promising current method for correlating encrypted connections. However, previous timing-based approaches are vulnerable to packet timing perturbations introduced by the attacker at stepping stones. In this paper, we propose a novel watermark-based correlation scheme that is designed specifically to be robust against timing perturbations. The watermark is introduced by slightly adjusting the timing of selected packets of the flow. By utilizing redundancy techniques, we have developed a robust watermark correlation framework that reveals a rather surprising result on the inherent limits of independent and identically distributed (iid) random timing perturbations over sufficiently long flows. We also identify the tradeoffs between timing perturbation characteristics and achievable correlation effectiveness. Experiments show that the new method performs significantly better than existing, passive, timing-based correlation in the presence of random packet timing perturbations. We present an approach for improving the performance of combinatorial optimization algorithms by generating an optimal Parallel Portfolio of Algorithms (PPA). A PPA is a collection of diverse algorithms for solving a single problem, all running concurrently on a single processor until a solution is produced. The performance of the portfolio may be controlled by assigning different shares of processor time to each algorithm. We present a method for finding a static PPA, in which the share of processor time allocated to each algorithm is fixed. The schedule is shown to be optimal with respect to a given training set of instances. We draw bounds on the performance of the PPA over random instances and evaluate the performance empirically on a collection of 23 state-of-the-art SAT algorithms. The results show significant performance gains (up to a factor of 2) over the fastest individual algorithm in a realistic setting. Deep learning models' architectures, including depth and width, are key factors influencing models' performance, such as test accuracy and computation time. This paper solves two problems: given computation time budget, choose an architecture to maximize accuracy, and given accuracy requirement, choose an architecture to minimize computation time. We convert this architecture optimization into a subset selection problem. With accuracy's submodularity and computation time's supermodularity, we propose efficient greedy optimization algorithms. The experiments demonstrate our algorithm's ability to find more accurate models or faster models. By analyzing architecture evolution with growing time budget, we discuss relationships among accuracy, time and architecture, and give suggestions on neural network architecture design. When we write or prepare to write a research paper, we always have appropriate references in mind. However, there are most likely references we have missed and should have been read and cited. As such a good citation recommendation system would not only improve our paper but, overall, the efficiency and quality of literature search. Usually, a citation's context contains explicit words explaining the citation. Using this, we propose a method that "translates" research papers into references. By considering the citations and their contexts from existing papers as parallel data written in two different "languages", we adopt the translation model to create a relationship between these two "vocabularies". Experiments on both CiteSeer and CiteULike dataset show that our approach outperforms other baseline methods and increase the precision, recall and f-measure by at least 5 to 10 , respectively. In addition, our approach runs much faster in the both training and recommending stage, which proves the effectiveness and the scalability of our work. Service Oriented Architectures enable a multitude of service providers to provide loosely coupled and interoperable services at different Quality of Service and cost levels. This paper considers business processes composed of activities that are supported by service providers. The structure of a business process may be expressed by languages such as BPEL and allows for constructs such as sequence, switch, while, flow, and pick. This paper considers the problem of finding the set of service providers that minimizes the total execution time of the business process subject to cost and execution time constraints. The problem is clearly NP-hard. However, the paper presents an optimized algorithm that finds the optimal solution without having to explore the entire solution space. This algorithm can be used to find the optimal solution in problems of moderate size. A heuristic solution is also presented. Thorough experimental studies, based on random business processes, demonstrate that the heuristic algorithm was able to produce service provider allocations that result in execution times that are only a few percentage points (less than 2.5 ) worse than the allocations obtained by the optimal algorithm while examining a tiny fraction of the solution space (tens of points versus millions of points).