Is the lottery ticket phenomenon an idiosyncrasy of gradient-based training or does it generalize to evolutionary optimization? In this paper we establish the existence of highly sparse trainable initializations for evolution strategies (ES) and characterize qualitative differences compared to gradient descent (GD)-based sparse training. We introduce a novel signal-to-noise iterative pruning procedure, which incorporates loss curvature information into the network pruning step. This can enable the discovery of even sparser trainable network initializations when using black-box evolution as compared to GD-based optimization. Furthermore, we find that these initializations encode an inductive bias, which transfers across different ES, related tasks and even to GD-based training. Finally, we compare the local optima resulting from the different optimization paradigms and sparsity levels. In contrast to GD, ES explore diverse and flat local optima and do not preserve linear mode connectivity across sparsity levels and independent runs. The results highlight qualitative differences between evolution and gradient-based learning dynamics, which can be uncovered by the study of iterative pruning procedures.

Most metaheuristic algorithms rely on a few searched solutions to guide later searches during the convergence process for a simple reason: the limited computing resource of a computer makes it impossible to retain all the searched solutions. This also reveals that each search of most metaheuristic algorithms is just like a ballpark guess. To help address this issue, we present a novel metaheuristic algorithm called space net optimization (SNO). It is equipped with a new mechanism called space net; thus, making it possible for a metaheuristic algorithm to use most information provided by all searched solutions to depict the landscape of the solution space. With the space net, a metaheuristic algorithm is kind of like having a ``vision'' on the solution space. Simulation results show that SNO outperforms all the other metaheuristic algorithms compared in this study for a set of well-known single objective bound constrained problems in most cases.

Robot design aims at learning to create robots that can be easily controlled and perform tasks efficiently. Previous works on robot design have proven its ability to generate robots for various tasks. However, these works searched the robots directly from the vast design space and ignored common structures, resulting in abnormal robots and poor performance. To tackle this problem, we propose a Symmetry-Aware Robot Design (SARD) framework that exploits the structure of the design space by incorporating symmetry searching into the robot design process. Specifically, we represent symmetries with the subgroups of the dihedral group and search for the optimal symmetry in structured subgroups. Then robots are designed under the searched symmetry. In this way, SARD can design efficient symmetric robots while covering the original design space, which is theoretically analyzed. We further empirically evaluate SARD on various tasks, and the results show its superior efficiency and generalizability.

Mobile augmented reality (MAR) blends a real scenario with overlaid virtual content, which has been envisioned as one of the ubiquitous interfaces to the Metaverse. Due to the limited computing power and battery life of MAR devices, it is common to offload the computation tasks to edge or cloud servers in close proximity. However, existing offloading solutions developed for MAR tasks suffer from high migration overhead, poor scalability, and short-sightedness when applied in provisioning multi-user MAR services. To address these issues, a MAR service-oriented task offloading scheme is designed and evaluated in edge-cloud computing networks. Specifically, the task interdependency of MAR applications is firstly analyzed and modeled by using directed acyclic graphs. Then, we propose a look-ahead offloading scheme based on a modified Monte Carlo tree (MMCT) search, which can run several multi-step executions in advance to get an estimate of the long-term effect of immediate action. Experiment results show that the proposed offloading scheme can effectively improve the quality of service (QoS) in provisioning multi-user MAR services, compared to four benchmark schemes. Furthermore, it is also shown that the proposed solution is stable and suitable for applications in a highly volatile environment.

Bayesian Decision Trees (DTs) are generally considered a more advanced and accurate model than a regular Decision Tree (DT) because they can handle complex and uncertain data. Existing work on Bayesian DTs uses Markov Chain Monte Carlo (MCMC) with an accept-reject mechanism and sample using naive proposals to proceed to the next iteration, which can be slow because of the burn-in time needed. We can reduce the burn-in period by proposing a more sophisticated way of sampling or by designing a different numerical Bayesian approach. In this paper, we propose a replacement of the MCMC with an inherently parallel algorithm, the Sequential Monte Carlo (SMC), and a more effective sampling strategy inspired by the Evolutionary Algorithms (EA). Experiments show that SMC combined with the EA can produce more accurate results compared to MCMC in 100 times fewer iterations.

Large scale automatic software generation and configuration is a very complex and challenging task. In this proposal, we set out to investigate this problem by breaking down automatic software generation and configuration into two different tasks. In first task, we propose to synthesize software automatically with input output specifications. This task is further broken down into two sub-tasks. The first sub-task is about synthesizing programs with a genetic algorithm which is driven by a neural network based fitness function trained with program traces and specifications. For the second sub-task, we formulate program synthesis as a continuous optimization problem and synthesize programs with covariance matrix adaption evolutionary strategy (a state-of-the-art continuous optimization method). Finally, for the second task, we propose to synthesize configurations of large scale software from different input files (e.g.

In the most extensive robot evolution systems, both the bodies and the brains of the robots undergo evolution and the brains of 'infant' robots are also optimized by a learning process immediately after 'birth'. This paper is concerned with the brain evolution mechanism in such a system. In particular, we compare four options obtained by combining asexual or sexual brain reproduction with Darwinian or Lamarckian evolution mechanisms. We conduct experiments in simulation with a system of evolvable modular robots on two different tasks. The results show that sexual reproduction of the robots' brains is preferable in the Darwinian framework, but the effect is the opposite in the Lamarckian system (both using the same infant learning method). Our experiments suggest that the overall best option is asexual reproduction combined with the Lamarckian framework, as it obtains better robots in terms of fitness than the other three. Considering the evolved morphologies, the different brain reproduction methods do not lead to differences. This result indicates that the morphology of the robot is mainly determined by the task and the environment, not by the brain reproduction methods.

In single-objective optimization, it is well known that evolutionary algorithms also without further adjustments can tolerate a certain amount of noise in the evaluation of the objective function. In contrast, this question is not at all understood for multi-objective optimization. In this work, we conduct the first mathematical runtime analysis of a simple multi-objective evolutionary algorithm (MOEA) on a classic benchmark in the presence of noise in the objective functions. We prove that when bit-wise prior noise with rate $p \le \alpha/n$, $\alpha$ a suitable constant, is present, the \emph{simple evolutionary multi-objective optimizer} (SEMO) without any adjustments to cope with noise finds the Pareto front of the OneMinMax benchmark in time $O(n^2\log n)$, just as in the case without noise. Given that the problem here is to arrive at a population consisting of $n+1$ individuals witnessing the Pareto front, this is a surprisingly strong robustness to noise (comparably simple evolutionary algorithms cannot optimize the single-objective OneMax problem in polynomial time when $p = \omega(\log(n)/n)$). Our proofs suggest that the strong robustness of the MOEA stems from its implicit diversity mechanism designed to enable it to compute a population covering the whole Pareto front. Interestingly this result only holds when the objective value of a solution is determined only once and the algorithm from that point on works with this, possibly noisy, objective value. We prove that when all solutions are reevaluated in each iteration, then any noise rate $p = \omega(\log(n)/n^2)$ leads to a super-polynomial runtime. This is very different from single-objective optimization, where it is generally preferred to reevaluate solutions whenever their fitness is important and where examples are known such that not reevaluating solutions can lead to catastrophic performance losses.

We propose a genetic algorithm (GA) based method for modifying n-best lists produced by a machine translation (MT) system. Our method offers an innovative approach to improving MT quality and identifying weaknesses in evaluation metrics. Using common GA operations (mutation and crossover) on a list of hypotheses in combination with a fitness function (an arbitrary MT metric), we obtain novel and diverse outputs with high metric scores. With a combination of multiple MT metrics as the fitness function, the proposed method leads to an increase in translation quality as measured by other held-out automatic metrics. With a single metric (including popular ones such as COMET) as the fitness function, we find blind spots and flaws in the metric. This allows for an automated search for adversarial examples in an arbitrary metric, without prior assumptions on the form of such example. As a demonstration of the method, we create datasets of adversarial examples and use them to show that reference-free COMET is substantially less robust than the reference-based version.

Underactuated tower crane lifting requires time-energy optimal trajectories for the trolley/slew operations and reduction of the unactuated swings resulting from the trolley/jib motion. In scenarios involving non-negligible hook mass or long rig-cable, the hook-payload unit exhibits double-pendulum behaviour, making the problem highly challenging. This article introduces an offline multi-objective anti-swing trajectory planning module for a Computer-Aided Lift Planning (CALP) system of autonomous double-pendulum tower cranes, addressing all the transient state constraints. A set of auxiliary outputs are selected by methodically analyzing the payload swing dynamics and are used to prove the differential flatness property of the crane operations. The flat outputs are parameterized via suitable B\'{e}zier curves to formulate the multi-objective trajectory optimization problems in the flat output space. A novel multi-objective evolutionary algorithm called Collective Oppositional Generalized Differential Evolution 3 (CO-GDE3) is employed as the optimizer. To obtain faster convergence and better consistency in getting a wide range of good solutions, a new population initialization strategy is integrated into the conventional GDE3. The computationally efficient initialization method incorporates various concepts of computational opposition. Statistical comparisons based on trolley and slew operations verify the superiority of convergence and reliability of CO-GDE3 over the standard GDE3. Trolley and slew operations of a collision-free lifting path computed via the path planner of the CALP system are selected for a simulation study. The simulated trajectories demonstrate that the proposed planner can produce time-energy optimal solutions, keeping all the state variables within their respective limits and restricting the hook and payload swings.