Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userAdaptive Genomic Evolution of Neural Network Topologies (AGENT) for State-to-Action Mapping in Autonomous Agents
69
0
0.0
(
0
)
Added by
Souma Chowdhury
Publication date
2019
fields
Informatics Engineering
and research's language is
English
Ask ChatGPT about the research
No Arabic abstract
Neuroevolution is a process of training neural networks (NN) through an evolutionary algorithm, usually to serve as a state-to-action mapping model in control or reinforcement learning-type problems. This paper builds on the Neuro Evolution of Augmented Topologies (NEAT) formalism that allows designing topology and weight evolving NNs. Fundamental advancements are made to the neuroevolution process to address premature stagnation and convergence issues, central among which is the incorporation of automated mechanisms to control the population diversity and average fitness improvement within the neuroevolution process. Insights into the performance and efficiency of the new algorithm is obtained by evaluating it on three benchmark problems from the Open AI platform and an Unmanned Aerial Vehicle (UAV) collision avoidance problem.
rate research
Read More
Due to the nonlinearity of artificial neural networks, designing topologies for deep convolutional neural networks (CNN) is a challenging task and often only heuristic approach, such as trial and error, can be applied. An evolutionary algorithm can solve optimization problems where the fitness landscape is unknown. However, evolutionary algorithms are computing resource intensive, which makes it difficult for problems when deep CNNs are involved. In this paper, we propose an evolutionary strategy to find better topologies for deep CNNs. Incorporating the concept of knowledge inheritance and knowledge learning, our evolutionary algorithm can be executed with limited computing resources. We applied the proposed algorithm in finding effective topologies of deep CNNs for the image classification task using CIFAR-10 dataset. After the evolution, we analyzed the topologies that performed well for this task. Our studies verify the techniques that have been commonly used in human designed deep CNNs. We also discovered that some of the graph properties greatly affect the system performance. We applied the guidelines learned from the evolution and designed new network topologies that outperform Residual Net with less layers on CIFAR-10, CIFAR-100, and SVHN dataset.
Logical relations widely exist in human activities. Human use them for making judgement and decision according to various conditions, which are embodied in the form of emph{if-then} rules. As an important kind of cognitive intelligence, it is prerequisite of representing and storing logical relations rightly into computer systems so as to make automatic judgement and decision, especially for high-risk domains like medical diagnosis. However, current numeric ANN (Artificial Neural Network) models are good at perceptual intelligence such as image recognition while they are not good at cognitive intelligence such as logical representation, blocking the further application of ANN. To solve it, researchers have tried to design logical ANN models to represent and store logical relations. Although there are some advances in this research area, recent works still have disadvantages because the structures of these logical ANN models still dont map more directly with logical relations which will cause the corresponding logical relations cannot be read out from their network structures. Therefore, in order to represent logical relations more clearly by the neural network structure and to read out logical relations from it, this paper proposes a novel logical ANN model by designing the new logical neurons and links in demand of logical representation. Compared with the recent works on logical ANN models, this logical ANN model has more clear corresponding with logical relations using the more direct mapping method herein, thus logical relations can be read out following the connection patterns of the network structure. Additionally, less neurons are used.
Autonomous systems often operate in environments where the behavior of multiple agents is coordinated by a shared global state. Reliable estimation of the global state is thus critical for successfully operating in a multi-agent setting. We introduce agent-aware state estimation -- a framework for calculating indirect estimations of state given observations of the behavior of other agents in the environment. We also introduce transition-independent agent-aware state estimation -- a tractable class of agent-aware state estimation -- and show that it allows the speed of inference to scale linearly with the number of agents in the environment. As an example, we model traffic light classification in instances of complete loss of direct observation. By taking into account observations of vehicular behavior from multiple directions of traffic, our approach exhibits accuracy higher than that of existing traffic light-only HMM methods on a real-world autonomous vehicle data set under a variety of simulated occlusion scenarios.
Through the success of deep learning in various domains, artificial neural networks are currently among the most used artificial intelligence methods. Taking inspiration from the network properties of biological neural networks (e.g. sparsity, scale-freeness), we argue that (contrary to general practice) artificial neural networks, too, should not have fully-connected layers. Here we propose sparse evolutionary training of artificial neural networks, an algorithm which evolves an initial sparse topology (ErdH{o}s-Renyi random graph) of two consecutive layers of neurons into a scale-free topology, during learning. Our method replaces artificial neural networks fully-connected layers with sparse ones before training, reducing quadratically the number of parameters, with no decrease in accuracy. We demonstrate our claims on restricted Boltzmann machines, multi-layer perceptrons, and convolutional neural networks for unsupervised and supervised learning on 15 datasets. Our approach has the potential to enable artificial neural networks to scale up beyond what is currently possible.
We draw upon a previously largely untapped literature on human collective intelligence as a source of inspiration for improving deep learning. Implicit in many algorithms that attempt to solve Deep Reinforcement Learning (DRL) tasks is the network of processors along which parameter values are shared. So far, existing approaches have implicitly utilized fully-connected networks, in which all processors are connected. However, the scientific literature on human collective intelligence suggests that complete networks may not always be the most effective information network structures for distributed search through complex spaces. Here we show that alternative topologies can improve deep neural network training: we find that sparser networks learn higher rewards faster, leading to learning improvements at lower communication costs.
suggested questions
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
