We present a new algorithm ASEBO for conducting optimization of high-dimensional blackbox functions. ASEBO adapts to the geometry of the function and learns optimal sets of sensing directions, which are used to probe it, on-the-fly. It addresses the exploration-exploitation trade-off of blackbox optimization, where each single function query is expensive, by continuously learning the bias of the lower-dimensional model used to approximate gradients of smoothings of the function with compressed sensing and contextual bandits methods. To obtain this model, it uses techniques from the emerging theory of active subspaces in the novel ES blackbox optimization context. As a result, ASEBO learns the dynamically changing intrinsic dimensionality of the gradient space and adapts to the hardness of different stages of the optimization without external supervision. Consequently, it leads to more sample-efficient blackbox optimization than state-of-the-art algorithms. We provide rigorous theoretical justification of the effectiveness of our method. We also empirically evaluate it on the set of reinforcement learning policy optimization tasks as well as functions from the recently open-sourced Nevergrad library, demonstrating that it consistently learns optimal inputs with fewer queries to a blackbox function than other methods.

Thousands of years before machine learning and self-driving cars became reality, the tales of giant bronze robot Talos, artificial woman Pandora and their creator god, Hephaestus, filled the imaginations of people in ancient Greece. A Greek vase painting, dating to about 450 B.C., depicts the death of Talos. Stanford's Adrienne Mayor examined the myth of Talos and others in her latest research. Historians usually trace the idea of automata to the Middle Ages, when the first self-moving devices were invented, but the concept of artificial, lifelike creatures dates to the myths and legends from at least about 2,700 years ago, said Adrienne Mayor, a research scholar in the Department of Classics in the School of Humanities and Sciences. These ancient myths are the subject of Mayor's latest book, Gods and Robots: Myths, Machines, and Ancient Dreams of Technology.

Image classification is a difficult machine learning task, where Convolutional Neural Networks (CNNs) have been applied for over 20 years in order to solve the problem. In recent years, instead of the traditional way of only connecting the current layer with its next layer, shortcut connections have been proposed to connect the current layer with its forward layers apart from its next layer, which has been proved to be able to facilitate the training process of deep CNNs. However, there are various ways to build the shortcut connections, it is hard to manually design the best shortcut connections when solving a particular problem, especially given the design of the network architecture is already very challenging. In this paper, a hybrid evolutionary computation (EC) method is proposed to \textit{automatically} evolve both the architecture of deep CNNs and the shortcut connections. Three major contributions of this work are: Firstly, a new encoding strategy is proposed to encode a CNN, where the architecture and the shortcut connections are encoded separately; Secondly, a hybrid two-level EC method, which combines particle swarm optimisation and genetic algorithms, is developed to search for the optimal CNNs; Lastly, an adjustable learning rate is introduced for the fitness evaluations, which provides a better learning rate for the training process given a fixed number of epochs. The proposed algorithm is evaluated on three widely used benchmark datasets of image classification and compared with 12 peer Non-EC based competitors and one EC based competitor. The experimental results demonstrate that the proposed method outperforms all of the peer competitors in terms of classification accuracy.

Interest in derivative-free optimization (DFO) and "evolutionary strategies" (ES) has recently surged in the Reinforcement Learning (RL) community, with growing evidence that they match state of the art methods for policy optimization tasks. However, blackbox DFO methods suffer from high sampling complexity since they require a substantial number of policy rollouts for reliable updates. They can also be very sensitive to noise in the rewards, actuators or the dynamics of the environment. In this paper we propose to replace the standard ES derivative-free paradigm for RL based on simple reward-weighted averaged random perturbations for policy updates, that has recently become a subject of voluminous research, by an algorithm where gradients of blackbox RL functions are estimated via regularized regression methods. In particular, we propose to use L1/L2 regularized regression-based gradient estimation to exploit sparsity and smoothness, as well as LP decoding techniques for handling adversarial stochastic and deterministic noise. Our methods can be naturally aligned with sliding trust region techniques for efficient samples reuse to further reduce sampling complexity. This is not the case for standard ES methods requiring independent sampling in each epoch. We show that our algorithms can be applied in locomotion tasks, where training is conducted in the presence of substantial noise, e.g. for learning in sim transferable stable walking behaviors for quadruped robots or training quadrupeds how to follow a path. We further demonstrate our methods on several $\mathrm{OpenAI}$ $\mathrm{Gym}$ $\mathrm{Mujoco}$ RL tasks. We manage to train effective policies even if up to $25\%$ of all measurements are arbitrarily corrupted, where standard ES methods produce sub-optimal policies or do not manage to learn at all. Our empirical results are backed by theoretical guarantees.

Cyber-Physical Systems (CPSs) have been pervasive including smart grid, autonomous automobile systems, medical monitoring, process control systems, robotics systems, and automatic pilot avionics. As usually implemented on embedded devices, CPS is typically constrained by computation capacity and energy consumption. In some CPS applications such as telemedicine and advanced driving assistance system (ADAS), data processing on the embedded devices is preferred due to security/safety and real-time requirement. Therefore, high efficiency is highly desirable for such CPS applications. In this paper we present CeNN quantization for high-efficient processing for CPS applications, particularly telemedicine and ADAS applications. We systematically put forward powers-of-two based incremental quantization of CeNNs for efficient hardware implementation. The incremental quantization contains iterative procedures including parameter partition, parameter quantization, and re-training. We propose five different strategies including random strategy, pruning inspired strategy, weighted pruning inspired strategy, nearest neighbor strategy, and weighted nearest neighbor strategy. Experimental results show that our approach can achieve a speedup up to 7.8x with no performance loss compared with the state-of-the-art FPGA solutions for CeNNs.

Thousands of years before machine learning and self-driving cars became reality, the tales of giant bronze robot Talos, artificial woman Pandora and their creator god, Hephaestus, filled the imaginations of people in ancient Greece. Historians usually trace the idea of automata to the Middle Ages, when the first self-moving devices were invented, but the concept of artificial, lifelike creatures dates to the myths and legends from at least about 2,700 years ago, said Adrienne Mayor, a research scholar in the Department of Classics in the School of Humanities and Sciences. These ancient myths are the subject of Mayor's latest book, Gods and Robots: Myths, Machines, and Ancient Dreams of Technology. "Our ability to imagine artificial intelligence goes back to the ancient times," said Mayor, who is also a 2018-19 fellow at the Center for Advanced Study in the Behavioral Sciences at Stanford. "Long before technological advances made self-moving devices possible, ideas about creating artificial life and robots were explored in ancient myths."

We introduce a rich model for multi-objective clustering with lexicographic ordering over objectives and a slack. The slack denotes the allowed multiplicative deviation from the optimal objective value of the higher priority objective to facilitate improvement in lower-priority objectives. We then propose an algorithm called Zeus to solve this class of problems, which is characterized by a makeshift function. The makeshift fine tunes the clusters formed by the processed objectives so as to improve the clustering with respect to the unprocessed objectives, given the slack. We present makeshift for solving three different classes of objectives and analyze their solution guarantees. Finally, we empirically demonstrate the effectiveness of our approach on three applications using real-world data.

We propose a new evolutionary approach for discovering causal rules in complex classification problems from batch data. Key aspects include (a) the use of a hypergeometric probability mass function as a principled statistic for assessing fitness that quantifies the probability that the observed association between a given clause and target class is due to chance, taking into account the size of the dataset, the amount of missing data, and the distribution of outcome categories, (b) tandem age-layered evolutionary algorithms for evolving parsimonious archives of conjunctive clauses, and disjunctions of these conjunctions, each of which have probabilistically significant associations with outcome classes, and (c) separate archive bins for clauses of different orders, with dynamically-adjusted order-specific thresholds. The method is validated on majority-on and multiplexer benchmark problems exhibiting various combinations of heterogeneity, epistasis, overlap, noise in class associations, missing data, extraneous features, and imbalanced classes. In all synthetic epistatic benchmarks, we consistently recover the true causal rule sets used to generate the data. Finally, we discuss an application to a complex real-world survey dataset designed to inform possible ecohealth interventions for Chagas disease.

Machine learning algorithms have been effectively applied into various real world tasks. However, it is difficult to provide high-quality machine learning solutions to accommodate an unknown distribution of input datasets; this difficulty is called the uncertainty prediction problems. In this paper, a margin-based Pareto deep ensemble pruning (MBPEP) model is proposed. It achieves the high-quality uncertainty estimation with a small value of the prediction interval width (MPIW) and a high confidence of prediction interval coverage probability (PICP) by using deep ensemble networks. In addition to these networks, unique loss functions are proposed, and these functions make the sub-learners available for standard gradient descent learning. Furthermore, the margin criterion fine-tuning-based Pareto pruning method is introduced to optimize the ensembles. Several experiments including predicting uncertainties of classification and regression are conducted to analyze the performance of MBPEP. The experimental results show that MBPEP achieves a small interval width and a low learning error with an optimal number of ensembles. For the real-world problems, MBPEP performs well on input datasets with unknown distributions datasets incomings and improves learning performance on a multi task problem when compared to that of each single model.

Reward functions are often misspecified. An agent optimizing an incorrect reward function can change its environment in large, undesirable, and potentially irreversible ways. Work on impact measurement seeks a means of identifying (and thereby avoiding) large changes to the environment. We propose a novel impact measure which induces conservative, effective behavior across a range of situations. The approach attempts to preserve the attainable utility of auxiliary objectives. We evaluate our proposal on an array of benchmark tasks and show that it matches or outperforms relative reachability, the state-of-the-art in impact measurement.