In the past few years, a considerable amount of research has been dedicated to the exploitation of previous learning experiences and the design of Few-shot and Meta Learning approaches, in problem domains ranging from Computer Vision to Reinforcement Learning based control. A notable exception, where to the best of our knowledge, little to no effort has been made in this direction is Quality-Diversity (QD) optimisation. QD methods have been shown to be effective tools in dealing with deceptive minima and sparse rewards in Reinforcement Learning. However, they remain costly due to their reliance on inherently sample inefficient evolutionary processes. We show that, given examples from a task distribution, information about the paths taken by optimisation in parameter space can be leveraged to build a prior population, which when used to initialise QD methods in unseen environments, allows for few-shot adaptation. Our proposed method does not require backpropagation. It is simple to implement and scale, and furthermore, it is agnostic to the underlying models that are being trained. Experiments carried in both sparse and dense reward settings using robotic manipulation and navigation benchmarks show that it considerably reduces the number of generations that are required for QD optimisation in these environments.

With the ever-increasing use of web APIs in modern-day applications, it is becoming more important to test the system as a whole. In the last decade, tools and approaches have been proposed to automate the creation of system-level test cases for these APIs using evolutionary algorithms (EAs). One of the limiting factors of EAs is that the genetic operators (crossover and mutation) are fully randomized, potentially breaking promising patterns in the sequences of API requests discovered during the search. Breaking these patterns has a negative impact on the effectiveness of the test case generation process. To address this limitation, this paper proposes a new approach that uses agglomerative hierarchical clustering (AHC) to infer a linkage tree model, which captures, replicates, and preserves these patterns in new test cases. We evaluate our approach, called LT-MOSA, by performing an empirical study on 7 real-world benchmark applications w.r.t. branch coverage and real-fault detection capability. We also compare LT-MOSA with the two existing state-of-the-art white-box techniques (MIO, MOSA) for REST API testing. Our results show that LT-MOSA achieves a statistically significant increase in test target coverage (i.e., lines and branches) compared to MIO and MOSA in 4 and 5 out of 7 applications, respectively. Furthermore, LT-MOSA discovers 27 and 18 unique real-faults that are left undetected by MIO and MOSA, respectively.

A genetic algorithm is a technique for optimization problems based on natural selection. In this post, I show how to use genetic algorithms for feature selection. While there are many well-known feature selections methods in scikit-learn, feature selection goes well beyond what is available there. Feature selection is a crucial aspect of any machine learning pipeline. However, these days there is a surplus of available data.

However, it was widely known that successfully converging to the maximum of that fitness function requires maintaining genetic diversity in the population of solutions (e.g., [1-4]). Moreover, the use of niching demonstrated how maintaining subpopulations could help find multiple solutions to a single problem [5]. Some studies included genetic diversity as one of the objectives of the EA [6]. Approaches in evolutionary robotics, artificial life, and neuro-evolution realised that genetic diversity does not necessarily imply a diversity of solutions, since (i) different genotypes may encode the same behaviour and vice versa; and (ii) many genotypes may encode unsafe or undesirable solutions that should be discarded during evolution (e.g., when a robot crashes into an obstacle). Such approaches began to emphasise behavioural diversity [7-10], not only as a driver for objective-based evolution but also as the enabler for diversity-or novelty-driven evolution [11]. In quality-diversity (QD) algorithms such as MAP-Elites [12] and Novelty Search with Local Competition [13], the behavioural diversity approach is combined with local competition such that the best solution for each local region in the behaviour space is stored, forming a large archive of high-quality solutions. The development of quality-diversity algorithms has allowed a plethora of applications.

The modeling of emergent swarm intelligence constitutes a major challenge and it has been tacked in a number of different ways. However, existing approaches fail to capture the nature of swarm intelligence and they are either too abstract for practical application or not generic enough to describe the various types of emergence phenomena. In this paper, a contradiction-centric model for swarm intelligence is proposed, in which individuals determine their behaviors based on their internal contradictions whilst they associate and interact to update their contradictions. The model hypothesizes that 1) the emergence of swarm intelligence is rooted in the development of individuals' internal contradictions and the interactions taking place between individuals and the environment, and 2) swarm intelligence is essentially a combinative reflection of the configurations of individuals' internal contradictions and the distributions of these contradictions across individuals. The model is formally described and five swarm intelligence systems are studied to illustrate its broad applicability. The studies confirm the generic character of the model and its effectiveness for describing the emergence of various kinds of swarm intelligence; and they also demonstrate that the model is straightforward to apply, without the need for complicated computations.

The emergence of Industry 4.0 is making production systems more flexible and also more dynamic. In these settings, schedules often need to be adapted in real-time by dispatching rules. Although substantial progress was made until the '90s, the performance of these rules is still rather limited. The machine learning literature is developing a variety of methods to improve them, but the resulting rules are difficult to interpret and do not generalise well for a wide range of settings. This paper is the first major attempt at combining machine learning with domain problem reasoning for scheduling. The idea consists of using the insights obtained with the latter to guide the empirical search of the former. Our hypothesis is that this guided empirical learning process should result in dispatching rules that are effective and interpretable and which generalise well to different instance classes. We test our approach in the classical dynamic job shop scheduling problem minimising tardiness, which is one of the most well-studied scheduling problems. Nonetheless, results suggest that our approach was able to find new state-of-the-art rules, which significantly outperform the existing literature in the vast majority of settings, from loose to tight due dates and from low utilisation conditions to congested shops. Overall, the average improvement is 19%. Moreover, the rules are compact, interpretable, and generalise well to extreme, unseen scenarios.

To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for missions where the tasks of different robots are tightly coupled with temporal and precedence constraints. The approach is based on representing the problem as a variant of the vehicle routing problem, and the solution is found using a distributed metaheuristic algorithm based on evolutionary computation (CBM-pop). Such an approach allows a fast and near-optimal allocation and can therefore be used for online replanning in case of task changes. Simulation results show that the approach has better computational speed and scalability without loss of optimality compared to the state-of-the-art distributed methods. An application of the planning procedure to a practical use case of a greenhouse maintained by a multi-robot system is given.

This paper presents VORRT-COLREGs, a hybrid technique that combines velocity obstacles (VO) and rapidly-exploring random trees (RRT) to generate safe trajectories for autonomous surface vessels (ASVs) while following nautical rules of the road. RRT generates a set of way points and the velocity obstacles method ensures safe travel between way points. We also ensure that the actions of ASVs do not violate maritime collision guidelines. Earlier work has used RRT and VO separately to generate paths for ASVs. However, RRT does not handle highly dynamic situations well and and VO seems most suitable as a local path planner. Combining both approaches, VORRT-COLREGs is a global path planner that uses a joint forward simulation to ensure that generated paths remain valid and collision free as the situation changes. Experiments were conducted in different types of collision scenarios and with different numbers of ASVs. Results show that VORRT-COLREGS generated collision regulations (COLREGs) complaint paths in open ocean scenarios. Furthermore, VORRT-COLREGS successfully generated compliant paths within traffic separation schemes. These results show the applicability of our technique for generating paths for ASVs in different collision scenarios. To the best of our knowledge, this is the first work that combines velocity obstacles and RRT to produce safe and COLREGs complaint path for ASVs.

Recent advance in classical reinforcement learning (RL) and quantum computation (QC) points to a promising direction of performing RL on a quantum computer. However, potential applications in quantum RL are limited by the number of qubits available in the modern quantum devices. Here we present two frameworks of deep quantum RL tasks using a gradient-free evolution optimization: First, we apply the amplitude encoding scheme to the Cart-Pole problem; Second, we propose a hybrid framework where the quantum RL agents are equipped with hybrid tensor network-variational quantum circuit (TN-VQC) architecture to handle inputs with dimensions exceeding the number of qubits. This allows us to perform quantum RL on the MiniGrid environment with 147-dimensional inputs. We demonstrate the quantum advantage of parameter saving using the amplitude encoding. The hybrid TN-VQC architecture provides a natural way to perform efficient compression of the input dimension, enabling further quantum RL applications on noisy intermediate-scale quantum devices.

We propose a quantum representation of binary classification trees with binary features based on a probabilistic approach. By using the quantum computer as a processor for probability distributions, a probabilistic traversal of the decision tree can be realized via measurements of a quantum circuit. We describe how tree inductions and the prediction of class labels of query data can be integrated into this framework. An on-demand sampling method enables predictions with a constant number of classical memory slots, independent of the tree depth. We experimentally study our approach using both a quantum computing simulator and actual IBM quantum hardware. To our knowledge, this is the first realization of a decision tree classifier on a quantum device.