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Fitness Inheritance in BOA
     Martin Pelikan                       Kumara Sastry
   Dept. of Math and CS                       Illinois GA Lab
Univ. of Missouri at St. Louis   Univ. of Illinois at Urbana-Champaign




                                                                  1
Motivation
Bayesian optimization algorithm (BOA)
  Scales up on decomposable problems
   O(n)-O(n2) evaluations until convergence
Expensive evaluations
  Real-world evaluations can be complex
  FEA, simulation, …
  O(n2) is often not enough
This paper
  Extend probabilistic model to include fitness info
  Use model to evaluate part of the population


                                                       2
Outline
BOA basics
Fitness inheritance in BOA
  Extend Bayesian networks with fitness.
  Use extended model for evaluation.
Experiments
Future work
Summary and conclusions


                                           3
Bayesian Optimization Alg. (BOA)
Pelikan, Goldberg, and Cantu-Paz (1998)
Similar to genetic algorithms (GAs)
Replace mutation + crossover by
  Build Bayesian network to model selected solutions.
  Sample Bayesian network to generate new candidate
  solutions.




                                                        4
BOA
                             Bayesian          New
 Current                     network
                Selection                    population
population




         Restricted tournament replacement
                                                      5
Bayesian Networks (BNs)
2 components
  Structure
    directed acyclic graph
    nodes = variables (string positions)
    Edges = dependencies between variables
  Parameters
    Conditional probabilities p(X|Px), where
        X is a variable
        Px are parents of X (variables that X depends on)



                                                            6
BN example
                 A   B   p(A|B)
                 0   0    0.10
                 0   1    0.60
    A            1   0    0.90
                 1   1    0.40


B          C             C        A   p(C|A)
                         0        0    0.80
                         0        1    0.55
B       p(B)
                         1        0    0.20
0       0.25
                         1        1    0.45
1       0.75                               7
Extending BNs with fitness info
                                       A     B       p(A|B)    f(A|B)
Basic idea
                                       0     0        0.10       -0.5
   Don’t work only with
   conditional probabilities           0     1        0.60       0.5
   Add also fitness info for           1     0        0.90       0.3
   fitness estimation                  1     1        0.40       -0.3

Fitness info attached to p(X|Px) denoted by f(X|Px)
  Contribution of X restricted by Px
   f (X = x | Px = px ) = f (X = x, Px = px ) − f (Px = px )
   f (X = x, Px = px )
       avg. fitness of solutions with X=x and Px=px
   f (Px = px )
      avg. fitness of solutions with Px
                                                                        8
Estimating fitness
Equation

                                       (          )
                                  n
    f (X1 , X2 ,K , X n ) = favg + ∑ f Xi | PXi
                                 i=0



In words
  Fitness = avg. fitness + avg. contribution of each bit
  Avg. contributions taken w.r.t. context from BN


                                                       9
BNs with decision trees
Local structures in BNs
  More efficient representation for p ( X | Px )
Example for p ( A | B C )
                                B
                         0              1

                p( A | B = 0)                C
                                    0               1


                     p( A | B = 1, C = 0 )       p( A | B = 1, C = 1)
                                                                        10
BNs with decision trees + fitness
Same idea
  Attach fitness info to
  each probability
                                 B
                           0             1

                p( A | B = 0)                C
                f ( A | B = 0)       0           1


                      p ( A | B = 1, C = 0) p ( A | B = 1, C = 1)
                      f ( A | B = 1, C = 0) f ( A | B = 1, C = 1)
                                                                    11
Estimating fitness again
Same as before…because both BNs represent the same
Equation

                                               (           )
                                         n
       f ( X 1 , X 2 ,K , X n ) = f avg + ∑ f X i | PX i
                                        i =0


In words
  Fitness = avg. fitness + avg. contribution of each bit
  Avg. contributions taken w.r.t. context from BN


                                                               12
Where to learn fitness from?
Evaluate entire initial population
Choose inheritance proportion, pi
After that
  Evaluate (1-pi) proportion of offspring
  Use evaluated parents + evaluated offspring to learn
  Estimate fitness of the remaining prop. pi
  Sample for learning: N(1-pi) to N+N(1-pi)
     Often, 2N(1-pi)


                                                     13
Simple example: Onemax
Onemax
                                        n
              f ( X 1 , X 2 ,K , X n ) = ∑ X i
                                       i =1

What happens?
  Average fitness grows (as predicted by theory)
  No context is necessary
  Fitness contributions stay constant
              f ( X i = 1) = +0.5
              f ( X i = 0 ) = −0.5
                                                   14
Experiments
Problems
  50-bit onemax
  10 traps of order 4
  10 traps of order 5
Settings
  Inheritance proportion from 0 to 0.999
  Minimum population size for reliable convergence
  Many runs for each setting (300 runs for each setting)
Output
  Speed-up (in terms of real fitness evaluations)


                                                           15
Onemax
                                   35
Speed-up (w.r.t. no inheritance)


                                   30

                                   25

                                   20

                                   15

                                   10

                                    5

                                    0
                                        0   0.2    0.4    0.6        0.8   1
                                              Proportion inherited
                                                                               16
Trap-4
                                   35
Speed-up (w.r.t. no inheritance)

                                   30

                                   25

                                   20

                                   15

                                   10

                                    5

                                    0
                                        0   0.2    0.4    0.6    0.8   1
                                              Proportion inherited
                                                                           17
Trap-5
                                   60
Speed-up (w.r.t. no inheritance)


                                   50

                                   40

                                   30

                                   20

                                   10

                                    0
                                        0   0.2    0.4    0.6        0.8   1
                                              Proportion inherited
                                                                               18
Discussion
Inheritance proportion
  High proportions of inheritance work great.
Speed-up
  Optimal speed-up of 30-53
  High speed-up for almost any setting
  The tougher the problem, the better the speed-up
Why so good?
  Learning probabilistic model difficult, so accurate
  fitness info can be added at not much extra cost.

                                                        19
Conclusions
Fitness inheritance works great in BOA
Theory now exists (Satry et al., 2004) that
explains these results
High proportions of inheritance lead to high
speed-ups
Challenging problems allow much speed-up
Useful for practitioners with computationally
complex fitness function

                                                20
Contact
Martin Pelikan
Dept. of Math and Computer Science, 320 CCB
University of Missouri at St. Louis
8001 Natural Bridge Rd.
St. Louis, MO 63121

E-mail: pelikan@cs.umsl.edu
WWW: http://www.cs.umsl.edu/~pelikan/

                                              21

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Fitness inheritance in the Bayesian optimization algorithm

  • 1. Fitness Inheritance in BOA Martin Pelikan Kumara Sastry Dept. of Math and CS Illinois GA Lab Univ. of Missouri at St. Louis Univ. of Illinois at Urbana-Champaign 1
  • 2. Motivation Bayesian optimization algorithm (BOA) Scales up on decomposable problems O(n)-O(n2) evaluations until convergence Expensive evaluations Real-world evaluations can be complex FEA, simulation, … O(n2) is often not enough This paper Extend probabilistic model to include fitness info Use model to evaluate part of the population 2
  • 3. Outline BOA basics Fitness inheritance in BOA Extend Bayesian networks with fitness. Use extended model for evaluation. Experiments Future work Summary and conclusions 3
  • 4. Bayesian Optimization Alg. (BOA) Pelikan, Goldberg, and Cantu-Paz (1998) Similar to genetic algorithms (GAs) Replace mutation + crossover by Build Bayesian network to model selected solutions. Sample Bayesian network to generate new candidate solutions. 4
  • 5. BOA Bayesian New Current network Selection population population Restricted tournament replacement 5
  • 6. Bayesian Networks (BNs) 2 components Structure directed acyclic graph nodes = variables (string positions) Edges = dependencies between variables Parameters Conditional probabilities p(X|Px), where X is a variable Px are parents of X (variables that X depends on) 6
  • 7. BN example A B p(A|B) 0 0 0.10 0 1 0.60 A 1 0 0.90 1 1 0.40 B C C A p(C|A) 0 0 0.80 0 1 0.55 B p(B) 1 0 0.20 0 0.25 1 1 0.45 1 0.75 7
  • 8. Extending BNs with fitness info A B p(A|B) f(A|B) Basic idea 0 0 0.10 -0.5 Don’t work only with conditional probabilities 0 1 0.60 0.5 Add also fitness info for 1 0 0.90 0.3 fitness estimation 1 1 0.40 -0.3 Fitness info attached to p(X|Px) denoted by f(X|Px) Contribution of X restricted by Px f (X = x | Px = px ) = f (X = x, Px = px ) − f (Px = px ) f (X = x, Px = px ) avg. fitness of solutions with X=x and Px=px f (Px = px ) avg. fitness of solutions with Px 8
  • 9. Estimating fitness Equation ( ) n f (X1 , X2 ,K , X n ) = favg + ∑ f Xi | PXi i=0 In words Fitness = avg. fitness + avg. contribution of each bit Avg. contributions taken w.r.t. context from BN 9
  • 10. BNs with decision trees Local structures in BNs More efficient representation for p ( X | Px ) Example for p ( A | B C ) B 0 1 p( A | B = 0) C 0 1 p( A | B = 1, C = 0 ) p( A | B = 1, C = 1) 10
  • 11. BNs with decision trees + fitness Same idea Attach fitness info to each probability B 0 1 p( A | B = 0) C f ( A | B = 0) 0 1 p ( A | B = 1, C = 0) p ( A | B = 1, C = 1) f ( A | B = 1, C = 0) f ( A | B = 1, C = 1) 11
  • 12. Estimating fitness again Same as before…because both BNs represent the same Equation ( ) n f ( X 1 , X 2 ,K , X n ) = f avg + ∑ f X i | PX i i =0 In words Fitness = avg. fitness + avg. contribution of each bit Avg. contributions taken w.r.t. context from BN 12
  • 13. Where to learn fitness from? Evaluate entire initial population Choose inheritance proportion, pi After that Evaluate (1-pi) proportion of offspring Use evaluated parents + evaluated offspring to learn Estimate fitness of the remaining prop. pi Sample for learning: N(1-pi) to N+N(1-pi) Often, 2N(1-pi) 13
  • 14. Simple example: Onemax Onemax n f ( X 1 , X 2 ,K , X n ) = ∑ X i i =1 What happens? Average fitness grows (as predicted by theory) No context is necessary Fitness contributions stay constant f ( X i = 1) = +0.5 f ( X i = 0 ) = −0.5 14
  • 15. Experiments Problems 50-bit onemax 10 traps of order 4 10 traps of order 5 Settings Inheritance proportion from 0 to 0.999 Minimum population size for reliable convergence Many runs for each setting (300 runs for each setting) Output Speed-up (in terms of real fitness evaluations) 15
  • 16. Onemax 35 Speed-up (w.r.t. no inheritance) 30 25 20 15 10 5 0 0 0.2 0.4 0.6 0.8 1 Proportion inherited 16
  • 17. Trap-4 35 Speed-up (w.r.t. no inheritance) 30 25 20 15 10 5 0 0 0.2 0.4 0.6 0.8 1 Proportion inherited 17
  • 18. Trap-5 60 Speed-up (w.r.t. no inheritance) 50 40 30 20 10 0 0 0.2 0.4 0.6 0.8 1 Proportion inherited 18
  • 19. Discussion Inheritance proportion High proportions of inheritance work great. Speed-up Optimal speed-up of 30-53 High speed-up for almost any setting The tougher the problem, the better the speed-up Why so good? Learning probabilistic model difficult, so accurate fitness info can be added at not much extra cost. 19
  • 20. Conclusions Fitness inheritance works great in BOA Theory now exists (Satry et al., 2004) that explains these results High proportions of inheritance lead to high speed-ups Challenging problems allow much speed-up Useful for practitioners with computationally complex fitness function 20
  • 21. Contact Martin Pelikan Dept. of Math and Computer Science, 320 CCB University of Missouri at St. Louis 8001 Natural Bridge Rd. St. Louis, MO 63121 E-mail: pelikan@cs.umsl.edu WWW: http://www.cs.umsl.edu/~pelikan/ 21