Book ; Online: Policy Manifold Search
Exploring the Manifold Hypothesis for Diversity-based Neuroevolution
2021
Abstract: Neuroevolution is an alternative to gradient-based optimisation that has the potential to avoid local minima and allows parallelisation. The main limiting factor is that usually it does not scale well with parameter space dimensionality. Inspired by ... ...
| Abstract | Neuroevolution is an alternative to gradient-based optimisation that has the potential to avoid local minima and allows parallelisation. The main limiting factor is that usually it does not scale well with parameter space dimensionality. Inspired by recent work examining neural network intrinsic dimension and loss landscapes, we hypothesise that there exists a low-dimensional manifold, embedded in the policy network parameter space, around which a high-density of diverse and useful policies are located. This paper proposes a novel method for diversity-based policy search via Neuroevolution, that leverages learned representations of the policy network parameters, by performing policy search in this learned representation space. Our method relies on the Quality-Diversity (QD) framework which provides a principled approach to policy search, and maintains a collection of diverse policies, used as a dataset for learning policy representations. Further, we use the Jacobian of the inverse-mapping function to guide the search in the representation space. This ensures that the generated samples remain in the high-density regions, after mapping back to the original space. Finally, we evaluate our contributions on four continuous-control tasks in simulated environments, and compare to diversity-based baselines. Comment: Accepted as a full paper at Genetic and Evolutionary Computation Conference, GECCO 2021. arXiv admin note: substantial text overlap with arXiv:2012.08676 |
|---|---|
| Keywords | Computer Science - Machine Learning ; Computer Science - Neural and Evolutionary Computing |
| Subject code | 006 |
| Publishing date | 2021-04-27 |
| Publishing country | us |
| Document type | Book ; Online |
| Database | BASE - Bielefeld Academic Search Engine (life sciences selection) |
Full text online
More links
Kategorien
Inter-library loan at ZB MED
Your chosen title can be delivered directly to ZB MED Cologne location if you are registered as a user at ZB MED Cologne.