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Modular Grammatical Evolution for the Generation of Artificial Neural Networks 人工神经网络生成的模块化语法演化
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-12-08 DOI: 10.1145/3520304.3534072
Khabat Soltanian, Ali Ebnenasir, M. Afsharchi
Abstract This article presents a novel method, called Modular Grammatical Evolution (MGE), toward validating the hypothesis that restricting the solution space of NeuroEvolution to modular and simple neural networks enables the efficient generation of smaller and more structured neural networks while providing acceptable (and in some cases superior) accuracy on large data sets. MGE also enhances the state-of-the-art Grammatical Evolution (GE) methods in two directions. First, MGE's representation is modular in that each individual has a set of genes, and each gene is mapped to a neuron by grammatical rules. Second, the proposed representation mitigates two important drawbacks of GE, namely the low scalability and weak locality of representation, toward generating modular and multilayer networks with a high number of neurons. We define and evaluate five different forms of structures with and without modularity using MGE and find single-layer modules with no coupling more productive. Our experiments demonstrate that modularity helps in finding better neural networks faster. We have validated the proposed method using ten well-known classification benchmarks with different sizes, feature counts, and output class counts. Our experimental results indicate that MGE provides superior accuracy with respect to existing NeuroEvolution methods and returns classifiers that are significantly simpler than other machine learning generated classifiers. Finally, we empirically demonstrate that MGE outperforms other GE methods in terms of locality and scalability properties.
本文提出了一种新的方法,称为模块化语法进化(MGE),用于验证假设,即将神经进化的解空间限制为模块化和简单的神经网络,可以有效地生成更小、更结构化的神经网络,同时在大型数据集上提供可接受的(在某些情况下是更好的)准确性。MGE还在两个方向上增强了最先进的语法演化(GE)方法。首先,MGE的表示是模块化的,因为每个个体都有一组基因,每个基因通过语法规则映射到一个神经元。其次,所提出的表示减轻了GE的两个重要缺点,即低可扩展性和弱局部性,用于生成具有大量神经元的模块化和多层网络。我们使用MGE定义和评估了具有和不具有模块化的五种不同形式的结构,并发现无耦合的单层模块更具生产力。我们的实验表明,模块化有助于更快地找到更好的神经网络。我们使用10个知名的分类基准来验证所提出的方法,这些基准具有不同的大小、特征计数和输出类计数。我们的实验结果表明,相对于现有的NeuroEvolution方法,MGE提供了更高的准确性,并且返回的分类器比其他机器学习生成的分类器简单得多。最后,我们通过实证证明了MGE在局部性和可扩展性方面优于其他GE方法。
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引用次数: 5
Environmental Adaptation of Robot Morphology and Control Through Real-World Evolution 基于真实世界进化的机器人形态与控制的环境适应
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-12-01 DOI: 10.1162/evco_a_00291
T. F. Nygaard;C. P. Martin;D. Howard;J. Torresen;K. Glette
Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics aims to solve this by optimizing both the control and body (morphology) of a robot, allowing adaptation to internal, as well as external factors. Most work in this field has been done in physics simulators, which are relatively simple and not able to replicate the richness of interactions found in the real world. Solutions that rely on the complex interplay among control, body, and environment are therefore rarely found. In this article, we rely solely on real-world evaluations and apply evolutionary search to yield combinations of morphology and control for our mechanically self-reconfiguring quadruped robot. We evolve solutions on two distinct physical surfaces and analyze the results in terms of both control and morphology. We then transition to two previously unseen surfaces to demonstrate the generality of our method. We find that the evolutionary search finds high-performing and diverse morphology-controller configurations by adapting both control and body to the different properties of the physical environments. We additionally find that morphology and control vary with statistical significance between the environments. Moreover, we observe that our method allows for morphology and control parameters to transfer to previously unseen terrains, demonstrating the generality of our approach.
在现实世界中操作的机器人将经历一系列不同的环境和任务。机器人必须具有适应周围环境的能力,才能在不断变化的条件下高效工作。进化机器人旨在通过优化机器人的控制和身体(形态)来解决这一问题,从而适应内部和外部因素。该领域的大多数工作都是在物理模拟器中完成的,这些模拟器相对简单,无法复制现实世界中丰富的交互作用。因此,很少找到依赖于控制、身体和环境之间复杂相互作用的解决方案。在这篇文章中,我们只依赖于真实世界的评估,并应用进化搜索来为我们的机械自配置四足机器人产生形态和控制的组合。我们在两个不同的物理表面上进化出解决方案,并从控制和形态两个方面分析结果。然后,我们过渡到两个以前看不见的表面,以证明我们方法的通用性。我们发现,进化搜索通过使控制和身体适应物理环境的不同特性,找到了高性能和多样化的形态控制器配置。此外,我们还发现,形态和控制在不同环境之间具有统计学意义。此外,我们观察到,我们的方法允许形态和控制参数转移到以前看不见的地形,这证明了我们方法的通用性。
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引用次数: 15
A Self-Adaptive Response Strategy for Dynamic Multiobjective Evolutionary Optimization Based on Objective Space Decomposition 基于目标空间分解的动态多目标进化优化自适应响应策略
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-12-01 DOI: 10.1162/evco_a_00289
Ruochen Liu;Jianxia Li;Yaochu Jin;Licheng Jiao
Dynamic multiobjective optimization deals with simultaneous optimization of multiple conflicting objectives that change over time. Several response strategies for dynamic optimization have been proposed, which do not work well for all types of environmental changes. In this article, we propose a new dynamic multiobjective evolutionary algorithm based on objective space decomposition, in which the maxi-min fitness function is adopted for selection and a self-adaptive response strategy integrating a number of different response strategies is designed to handle unknown environmental changes. The self-adaptive response strategy can adaptively select one of the strategies according to their contributions to the tracking performance in the previous environments. Experimental results indicate that the proposed algorithm is competitive and promising for solving different DMOPs in the presence of unknown environmental changes. Meanwhile, the proposed algorithm is applied to solve the parameter tuning problem of a proportional integral derivative (PID) controller of a dynamic system, obtaining better control effect.
动态多目标优化处理随着时间变化的多个冲突目标的同时优化。已经提出了几种动态优化的响应策略,但这些策略并不能很好地适用于所有类型的环境变化。在本文中,我们提出了一种新的基于目标空间分解的动态多目标进化算法,其中采用maxi-min适应度函数进行选择,并设计了一种集成多种不同响应策略的自适应响应策略来处理未知环境变化。自适应响应策略可以根据它们在先前环境中对跟踪性能的贡献来自适应地选择其中一种策略。实验结果表明,在未知环境变化的情况下,所提出的算法具有竞争力,有望解决不同的DMOP问题。同时,将该算法应用于动态系统比例积分微分(PID)控制器的参数整定问题,获得了较好的控制效果。
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引用次数: 6
Maximizing Drift Is Not Optimal for Solving OneMax 最大化漂移不是解决OneMax的最佳方案
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-12-01 DOI: 10.1162/evco_a_00290
Nathan Buskulic;Carola Doerr
It seems very intuitive that for the maximization of the OneMax problem Om(x):=∑i=1nxi the best that an elitist unary unbiased search algorithm can do is to store a best so far solution, and to modify it with the operator that yields the best possible expected progress in function value. This assumption has been implicitly used in several empirical works. In Doerr et al. (2020), it was formally proven that this approach is indeed almost optimal. In this work, we prove that drift maximization is not optimal. More precisely, we show that for most fitness levels between n/2 and 2n/3 the optimal mutation strengths are larger than the drift-maximizing ones. This implies that the optimal RLS is more risk-affine than the variant maximizing the stepwise expected progress. We show similar results for the mutation rates of the classic (1+1) Evolutionary Algorithm (EA) and its resampling variant, the (1+1) EA>0. As a result of independent interest we show that the optimal mutation strengths, unlike the drift-maximizing ones, can be even.
看起来非常直观的是,对于OneMax问题的最大化,Om(x):=∑i=1nxi,精英一元无偏搜索算法所能做的最好的事情就是存储迄今为止最好的解,并用运算符对其进行修改,以在函数值上产生尽可能好的预期进展。这一假设在几部经验著作中得到了隐含的应用。在Doerr等人(2020)中,正式证明了这种方法几乎是最优的。在这项工作中,我们证明了漂移最大化不是最优的。更准确地说,我们表明,对于n/2和2n/3之间的大多数适应度水平,最优突变强度大于漂移最大化强度。这意味着最优RLS比使逐步预期进展最大化的变体更具仿射风险。我们对经典的(1+1)进化算法(EA)及其重采样变体(1+1)EA>0的突变率给出了类似的结果。作为独立兴趣的结果,我们表明,与漂移最大化的突变强度不同,最佳突变强度可以是均匀的。
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引用次数: 21
The Univariate Marginal Distribution Algorithm Copes Well with Deception and Epistasis 单变量边际分布算法能很好地处理欺骗和溢出
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-12-01 DOI: 10.1162/evco_a_00293
Benjamin Doerr;Martin S. Krejca
In their recent work, Lehre and Nguyen (2019) show that the univariate marginal distribution algorithm (UMDA) needs time exponential in the parent populations size to optimize the DeceptiveLeadingBlocks (DLB) problem. They conclude from this result that univariate EDAs have difficulties with deception and epistasis. In this work, we show that this negative finding is caused by the choice of the parameters of the UMDA. When the population sizes are chosen large enough to prevent genetic drift, then the UMDA optimizes the DLB problem with high probability with at most λ(n2+2elnn) fitness evaluations. Since an offspring population size λ of order nlogn can prevent genetic drift, the UMDA can solve the DLB problem with O(n2logn) fitness evaluations. In contrast, for classic evolutionary algorithms no better runtime guarantee than O(n3) is known (which we prove to be tight for the (1+1) EA), so our result rather suggests that the UMDA can cope well with deception and epistatis. From a broader perspective, our result shows that the UMDA can cope better with local optima than many classic evolutionary algorithms; such a result was previously known only for the compact genetic algorithm. Together with the lower bound of Lehre and Nguyen, our result for the first time rigorously proves that running EDAs in the regime with genetic drift can lead to drastic performance losses.
Lehre和Nguyen(2019)在他们最近的工作中表明,单变量边际分布算法(UMDA)需要父母群体规模的时间指数来优化欺骗引导块(DLB)问题。他们从这一结果得出结论,单变量EDA在欺骗和上位性方面存在困难。在这项工作中,我们证明了这种负面发现是由UMDA的参数选择引起的。当种群大小选择得足够大以防止遗传漂移时,UMDA以高概率优化DLB问题,最多进行λ(n2+2elnn)适应度评估。由于nlogn阶的后代种群大小λ可以防止遗传漂移,UMDA可以通过O(n2logn)适应度评估来解决DLB问题。相反,对于经典的进化算法,没有比O(n3)更好的运行时保证(我们证明它对于(1+1)EA是严格的),所以我们的结果表明UMDA可以很好地应对欺骗和书信。从更广泛的角度来看,我们的结果表明,UMDA比许多经典的进化算法能够更好地处理局部最优;这样的结果先前仅对于紧凑遗传算法是已知的。结合Lehre和Nguyen的下界,我们的结果首次严格证明了在具有遗传漂移的机制中运行EDA会导致巨大的性能损失。
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引用次数: 24
Multiobjective Evolutionary Algorithms Are Still Good: Maximizing Monotone Approximately Submodular Minus Modular Functions 多目标进化算法仍然很好:最大化单调近似子模负模函数
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-12-01 DOI: 10.1162/evco_a_00288
Chao Qian
As evolutionary algorithms (EAs) are general-purpose optimization algorithms, recent theoretical studies have tried to analyze their performance for solving general problem classes, with the goal of providing a general theoretical explanation of the behavior of EAs. Particularly, a simple multiobjective EA, that is, GSEMO, has been shown to be able to achieve good polynomial-time approximation guarantees for submodular optimization, where the objective function is only required to satisfy some properties and its explicit formulation is not needed. Submodular optimization has wide applications in diverse areas, and previous studies have considered the cases where the objective functions are monotone submodular, monotone non-submodular, or non-monotone submodular. To complement this line of research, this article studies the problem class of maximizing monotone approximately submodular minus modular functions (i.e., g-c) with a size constraint, where g is a so-called non-negative monotone approximately submodular function and c is a so-called non-negative modular function, resulting in the objective function (g-c) being non-monotone non-submodular in general. Different from previous analyses, we prove that by optimizing the original objective function (g-c) and the size simultaneously, the GSEMO fails to achieve a good polynomial-time approximation guarantee. However, we also prove that by optimizing a distorted objective function and the size simultaneously, the GSEMO can still achieve the best-known polynomial-time approximation guarantee. Empirical studies on the applications of Bayesian experimental design and directed vertex cover show the excellent performance of the GSEMO.
由于进化算法是一种通用的优化算法,最近的理论研究试图分析它们在解决一般问题类时的性能,目的是为进化算法的行为提供一般的理论解释。特别是,一个简单的多目标EA,即GSEMO,已经被证明能够为子模优化实现良好的多项式时间近似保证,其中目标函数只需要满足一些性质,而不需要其显式公式。子模优化在不同领域有着广泛的应用,以前的研究已经考虑了目标函数是单调子模、单调非子模或非单调子模的情况。为了补充这一研究,本文研究了具有大小约束的单调近似子模负模函数(即g-c)的最大化问题类,其中g是所谓的非负单调近似子模块函数,c是所谓的无负模函数,导致目标函数(g-c)一般是非单调的非子模。与以往的分析不同,我们证明了通过同时优化原始目标函数(g-c)和大小,GSEMO无法实现良好的多项式时间近似保证。然而,我们也证明了通过同时优化失真的目标函数和大小,GSEMO仍然可以实现最著名的多项式时间近似保证。对贝叶斯实验设计和有向顶点覆盖应用的实证研究表明,GSEMO具有良好的性能。
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引用次数: 13
Evolving Plasticity for Autonomous Learning under Changing Environmental Conditions. 环境变化下自主学习的进化可塑性。
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-09-01 DOI: 10.1162/evco_a_00286
Anil Yaman, Giovanni Iacca, Decebal Constantin Mocanu, Matt Coler, George Fletcher, Mykola Pechenizkiy

A fundamental aspect of learning in biological neural networks is the plasticity property which allows them to modify their configurations during their lifetime. Hebbian learning is a biologically plausible mechanism for modeling the plasticity property in artificial neural networks (ANNs), based on the local interactions of neurons. However, the emergence of a coherent global learning behavior from local Hebbian plasticity rules is not very well understood. The goal of this work is to discover interpretable local Hebbian learning rules that can provide autonomous global learning. To achieve this, we use a discrete representation to encode the learning rules in a finite search space. These rules are then used to perform synaptic changes, based on the local interactions of the neurons. We employ genetic algorithms to optimize these rules to allow learning on two separate tasks (a foraging and a prey-predator scenario) in online lifetime learning settings. The resulting evolved rules converged into a set of well-defined interpretable types, that are thoroughly discussed. Notably, the performance of these rules, while adapting the ANNs during the learning tasks, is comparable to that of offline learning methods such as hill climbing.

生物神经网络学习的一个基本方面是可塑性,这使它们能够在其生命周期中修改其配置。Hebbian学习是一种基于神经元局部相互作用的模拟人工神经网络(ann)可塑性的生物学机制。然而,从局部Hebbian可塑性规则中出现的连贯的全局学习行为尚未得到很好的理解。这项工作的目标是发现可解释的局部Hebbian学习规则,可以提供自主的全局学习。为了实现这一点,我们在有限的搜索空间中使用离散表示来编码学习规则。然后,这些规则被用来根据神经元的局部相互作用来执行突触变化。我们使用遗传算法来优化这些规则,以便在在线终身学习设置中对两个独立的任务(觅食和捕食场景)进行学习。由此产生的演化规则汇聚成一组定义良好的可解释类型,并对其进行了详细的讨论。值得注意的是,当这些规则在学习任务中适应人工神经网络时,其性能与离线学习方法(如爬山)相当。
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引用次数: 11
Iterated Local Search and Other Algorithms for Buffered Two-Machine Permutation Flow Shops with Constant Processing Times on One Machine. 一台机器上具有恒定处理时间的缓冲双机排列流车间的迭代局部搜索及其他算法。
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-09-01 DOI: 10.1162/evco_a_00287
Hoang Thanh Le, Philine Geser, Martin Middendorf

The two-machine permutation flow shop scheduling problem with buffer is studied for the special case that all processing times on one of the two machines are equal to a constant c. This case is interesting because it occurs in various applications, for example, when one machine is a packing machine or when materials have to be transported. Different types of buffers and buffer usage are considered. It is shown that all considered buffer flow shop problems remain NP-hard for the makespan criterion even with the restriction to equal processing times on one machine. However, the special case where the constant c is larger or smaller than all processing times on the other machine is shown to be polynomially solvable by presenting an algorithm (2BF-OPT) that calculates optimal schedules in O(nlogn) steps. Two heuristics for solving the NP-hard flow shop problems are proposed: (i) a modification of the commonly used NEH heuristic (mNEH) and (ii) an Iterated Local Search heuristic (2BF-ILS) that uses the mNEH heuristic for computing its initial solution. It is shown experimentally that the proposed 2BF-ILS heuristic obtains better results than two state-of-the-art algorithms for buffered flow shop problems from the literature and an Ant Colony Optimization algorithm. In addition, it is shown experimentally that 2BF-ILS obtains the same solution quality as the standard NEH heuristic, however, with a smaller number of function evaluations.

本文研究了在两台机器中的一台上的所有加工时间都等于常数c的特殊情况下,带缓冲的两台机器排列流水车间调度问题。这种情况很有趣,因为它发生在各种应用中,例如,当一台机器是包装机或物料需要运输时。考虑了不同类型的缓冲区和缓冲区的使用情况。结果表明,即使在同一台机器上的处理时间相等的限制下,所有考虑的缓冲流车间问题对于最大时间跨度准则仍然是np困难的。然而,对于常数c大于或小于其他机器上所有处理时间的特殊情况,可以通过提出一种算法(2BF-OPT)来多项式地解决,该算法在O(nlogn)步中计算最优调度。提出了解决NP-hard flow shop问题的两种启发式方法:(i)对常用的NEH启发式(mNEH)的改进;(ii)使用mNEH启发式计算其初始解的迭代局部搜索启发式(2BF-ILS)。实验结果表明,本文提出的2BF-ILS启发式算法比现有的两种算法和蚁群优化算法获得了更好的缓冲流车间问题求解结果。此外,实验表明,2BF-ILS得到的解质量与标准NEH启发式方法相同,但函数评估次数较少。
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引用次数: 3
Lower Bounds for Non-Elitist Evolutionary Algorithms via Negative Multiplicative Drift. 基于负乘法漂移的非精英进化算法的下界。
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-06-01 DOI: 10.1162/evco_a_00283
Benjamin Doerr

A decent number of lower bounds for non-elitist population-based evolutionary algorithms has been shown by now. Most of them are technically demanding due to the (hard to avoid) use of negative drift theorems-general results which translate an expected movement away from the target into a high hitting time. We propose a simple negative drift theorem for multiplicative drift scenarios and show that it can simplify existing analyses. We discuss in more detail Lehre's (2010) negative drift in populations method, one of the most general tools to prove lower bounds on the runtime of non-elitist mutation-based evolutionary algorithms for discrete search spaces. Together with other arguments, we obtain an alternative and simpler proof of this result, which also strengthens and simplifies this method. In particular, now only three of the five technical conditions of the previous result have to be verified. The lower bounds we obtain are explicit instead of only asymptotic. This allows us to compute concrete lower bounds for concrete algorithms, but also enables us to show that super-polynomial runtimes appear already when the reproduction rate is only a (1-ω(n-1/2)) factor below the threshold. For the special case of algorithms using standard bit mutation with a random mutation rate (called uniform mixing in the language of hyper-heuristics), we prove the result stated by Dang and Lehre (2016b) and extend it to mutation rates other than Θ(1/n), which includes the heavy-tailed mutation operator proposed by Doerr et al. (2017). We finally use our method and a novel domination argument to show an exponential lower bound for the runtime of the mutation-only simple genetic algorithm on OneMax for arbitrary population size.

到目前为止,已经有相当数量的基于非精英群体的进化算法的下限得到了证明。由于(难以避免的)使用负漂移定理,它们中的大多数在技术上都要求很高——将预期的远离目标的运动转化为高命中时间的一般结果。我们提出了一个简单的负漂移定理,并证明它可以简化现有的分析。我们更详细地讨论了Lehre(2010)的种群负漂移方法,这是证明离散搜索空间中基于非精英突变的进化算法运行时下界的最通用工具之一。结合其他论证,我们得到了对该结果的另一种更简单的证明,也加强和简化了该方法。特别是,以前结果的五个技术条件现在只有三个需要核实。我们得到的下界是显式的,而不仅仅是渐近的。这使我们能够计算具体算法的具体下界,但也使我们能够证明,当繁殖率仅低于阈值的(1-ω(n-1/2))因子时,超多项式运行时间已经出现。对于使用具有随机突变率的标准位突变(在超启发式语言中称为均匀混合)的算法的特殊情况,我们证明了Dang和Lehre (2016b)所陈述的结果,并将其扩展到Θ(1/n)以外的突变率,其中包括Doerr等人(2017)提出的重尾突变算子。最后,我们利用我们的方法和一个新的支配论证,给出了在任意种群规模下OneMax上仅突变简单遗传算法运行时的指数下界。
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引用次数: 14
Offline Learning with a Selection Hyper-Heuristic: An Application to Water Distribution Network Optimisation. 具有选择超启发式的离线学习:在配水网络优化中的应用。
IF 6.8 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2021-06-01 DOI: 10.1162/evco_a_00277
William B Yates, Edward C Keedwell

A sequence-based selection hyper-heuristic with online learning is used to optimise 12 water distribution networks of varying sizes. The hyper-heuristic results are compared with those produced by five multiobjective evolutionary algorithms. The comparison demonstrates that the hyper-heuristic is a computationally efficient alternative to a multiobjective evolutionary algorithm. An offline learning algorithm is used to enhance the optimisation performance of the hyper-heuristic. The optimisation results of the offline trained hyper-heuristic are analysed statistically, and a new offline learning methodology is proposed. The new methodology is evaluated, and shown to produce an improvement in performance on each of the 12 networks. Finally, it is demonstrated that offline learning can be usefully transferred from small, computationally inexpensive problems, to larger computationally expensive ones, and that the improvement in optimisation performance is statistically significant, with 99% confidence.

采用基于序列的超启发式选择和在线学习来优化不同规模的12个配水网络。将超启发式结果与五种多目标进化算法的结果进行了比较。比较表明,超启发式算法是一种计算效率高的多目标进化算法的替代方案。采用离线学习算法提高超启发式算法的优化性能。对离线训练超启发式算法的优化结果进行了统计分析,提出了一种新的离线学习方法。对新方法进行了评估,并证明在12个网络中的每个网络上都产生了性能改进。最后,它证明了离线学习可以有效地从小的、计算成本低廉的问题转移到计算成本较高的问题,并且优化性能的改进在统计上是显著的,有99%的置信度。
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引用次数: 3
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Evolutionary Computation
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