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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
<title>4.2 Evolving graphs with CGP</title>
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</head>
<body>
<div class="reveal">
<!-- Any section element inside of this container is displayed as a slide -->
<div class="slides">
<section>
<h2>Evolutionary Computation</h2>
<h3>Cartesian Genetic Programming</h3>
<br />
<img src="../imgs/logo.png" width="30%" height="auto" style="border:0; box-shadow:0 0 0;">
</section>
<section data-background-video="video/solaris.mp4" data-background-color="#000000">
<h1>Evolving simple programs for playing Atari games</h1>
<br/>
<div class="textbox">
Dennis G Wilson, Sylvain Cussat-Blanc, Hervé Luga
</div>
</section>
<!-- <section> -->
<section data-background-video="video/krull.mp4" data-background-color="#000000">
<h2>Overview</h2>
<ul>
<li>Arcade Learning Environment</li>
<li>Cartesian Genetic Programming</li>
<li>Atari playing with CGP</li>
<li>Example programs from results</li>
</ul>
</section>
<section>
<section data-background-video="video/asteroids.mp4" data-background-color="#000000">
<h2>Arcade Learning Environment</h2>
<p>[Bellemare et al., 2013]</p>
<ul>
<li>HyperNEAT [Hausknecht, 2012]</li>
<li>DQN [Mnih et al., 2015]</li>
<li>Dueling DQN [Wang et al., 2015]</li>
<li>Prioritized experience replay [Schaul et al., 2015]</li>
<li>Double DQN [Hasselt et al., 2016]</li>
<li>A3C [Mnih et al., 2016]</li>
<li>Tangled Problem Graphs [Kelly and Heywood, 2017]</li>
</ul>
</section>
<section>
<h2>Deep reinforcement learning</h2>
<img class="plain" src="figs/dqn.png">
<p><small>[Mnih et al., 2015]</small></p>
</section>
<section>
<h2>HyperNEAT: Multiple representations</h2>
<img class="plain" src="figs/hyperneat.png">
<p><small>[Hausknecht, 2012]</small></p>
</section>
<section>
<h2>TPG: Decimal Feature Grid</h2>
<img class="plain" src="figs/tpg.png">
<p><small>[Kelly and Heywood, 2017]</small></p>
</section>
<section>
<h2>TPG: Multi-Task Learning</h2>
<img class="plain" src="figs/tpg_multi.png" height="500">
<p><small>[Kelly and Heywood, 2017]</small></p>
</section>
</section>
<section>
<section>
<h2>Cartesian Genetic Programming</h2>
<img class="plain" src="figs/cgp/cgp.png">
<p><small>[Miller, 2011]</small></p>
</section>
<section>
<h2>Floating Point Cartesian Genetic Programming</h2>
<img class="plain" src="figs/cgp/fp_cgp.png" width="50%">
<p><small>[Wilson, 2018]</small></p>
</section>
<section>
<h2>CGP: Junk nodes</h2>
<img class="plain" src="figs/cgp/inactive.png">
<p><small>[Miller, 2001]</small></p>
</section>
<section>
<h2>Mixed-Type CGP</h2>
<img class="plain" src="figs/cgp/mtcgp.png">
<p><small>[Harding et al., 2012]</small></p>
</section>
<section>
<h2>Image-Processing CGP</h2>
<img class="plain" src="figs/cgp/ipcgp.png">
<p><small>[Harding et al., 2013]</small></p>
</section>
<section>
<h2>Cartesian Genetic Programming</h2>
<img class="plain" src="figs/ipcgp.png" height="auto" width="30%">
<p><small>[Harding et al., 2013]</small></p>
</section>
<section>
<h2>Cartesian Genetic Programming</h2>
<img class="plain" src="figs/filters.png" height="auto" width="30%">
<p><small>[Paris et al., 2015]</small></p>
</section>
</section>
<section>
<section>
<h2>CGP for Atari playing</h2>
<img class="plain" src="figs/AlgoG.png"><br/>
1+λ ES<br/>
Fitness: Total reward over 1 game
</section>
<section>
<h2>CGP for Atari playing</h2>
<img class="plain" src="figs/scheme.png">
</section>
<section>
<h2>Mathematical functions</h2>
<img class="plain" src="figs/func_math.png">
</section>
<section>
<h2>Statistical functions</h2>
<img class="plain" src="figs/func_stats.png">
</section>
<section>
<h2>Array functions</h2>
<img class="plain" src="figs/func_lists.png">
</section>
</section>
<section>
<section data-background-video="video/defender.mp4" data-background-color="#000000">
<h2>Results</h2>
</section>
<section>
<h6>Centipede</h6>
<video height="400px" autoplay loop controls>
<source src="video/centipede.mp4" type="video/mp4">
</video>
<img class="plain" src="figs/centipede_graph.png" height="400px">
<br/>
<br/>
<small>
<table>
<thead>
<tr>
<th>Human</th> <th>Double</th> <th>DQN</th>
<th>Prioritized</th> <th>A3C:FF</th>
<th>A3C:LSTM</th> <th>TPG</th> <th>HyperNEAT</th>
<th>CGP</th>
</tr>
</thead>
<tbody>
<tr>
<td>11963</td> <td>3853.5</td> <td>4881</td>
<td>3421.9</td> <td>3755.8</td> <td>1997</td>
<td>34731.7</td> <td>25275.2</td> <td>24708</td>
</tr>
</tbody>
</table>
</small>
</section>
<section>
<h2>Kung Fu Master</h2>
<video height="400px" autoplay loop controls>
<source src="video/kung_fu_master.mp4" type="video/mp4">
</video>
<img class="plain" src="figs/kung_fu_master_graph.png" height="400px">
<br/>
<br/>
<small>
<table>
<thead>
<tr>
<th>Human</th> <th>Double</th> <th>DQN</th>
<th>Prioritized</th> <th>A3C:FF</th>
<th>A3C:LSTM</th> <th>TPG</th> <th>HyperNEAT</th>
<th>CGP</th>
</tr>
</thead>
<tbody>
<tr>
<td>22736</td> <td>30207</td> <td>24288</td>
<td>31244</td> <td>28819</td> <td>40835</td>
<td></td> <td>7720</td> <td>57400</td>
</tr>
</tbody>
</table>
</small>
</section>
<section>
<!-- <section data-background="figs/boxing_graph.png" data-background-size="1200px"> -->
<h2>Boxing</h2>
<video height="400px" autoplay loop controls>
<source src="video/boxing.mp4" type="video/mp4">
</video>
<img class="plain" src="figs/boxing_graph.png" height="400px">
<br/>
<br/>
<small>
<table>
<thead>
<tr>
<th>Human</th> <th>Double</th> <th>DQN</th>
<th>Prioritized</th> <th>A3C:FF</th>
<th>A3C:LSTM</th> <th>TPG</th> <th>HyperNEAT</th>
<th>CGP</th>
</tr>
</thead>
<tbody>
<tr>
<td>4.3</td> <td>73.5</td> <td>77.3</td>
<td>68.6</td> <td>59.8</td> <td>37.3</td> <td></td>
<td>16.4</td> <td>38.4</td>
</tr>
</tbody>
</table>
</small>
</section>
<section>
<h2>Comparison</h2>
<small>
<table>
<thead>
<tr>
<th>Game</th> <th>Human</th> <th>Double</th>
<th>DQN</th> <th>Prioritized</th> <th>A3C:FF</th>
<th>HyperNEAT</th> <th>CGP</th>
</tr>
</thead>
<tbody>
<tr>
<td>Asteroids</td> <td>13157</td> <td>1193.2</td>
<td>2035.4</td> <td>1654</td> <td>4474.5</td>
<td>1694</td>
<td>9412</td>
</tr>
<tr>
<td>Defender</td> <td></td> <td>27510</td>
<td>33996</td> <td>21093.5</td> <td>56533</td>
<td>14620</td>
<td>993010</td>
</tr>
<tr>
<td>Gravitar</td> <td>2672</td> <td>200.5</td>
<td>297</td> <td>218</td> <td>303.5</td>
<td>370</td>
<td>2350</td>
</tr>
<tr>
<td>JamesBond</td> <td>406.7</td> <td>573</td>
<td>835.5</td> <td>3511.5</td> <td>541</td>
<td>5660</td> <td>6130</td>
</tr>
<tr>
<td>Kangaroo</td> <td>3035</td> <td>11204</td>
<td>10334</td> <td>10241</td> <td>94</td>
<td>800</td> <td>1400</td>
</tr>
<tr>
<td>Krull</td> <td>2395</td> <td>6796.1</td>
<td>8051.6</td> <td>7406.5</td> <td>5560</td>
<td>12601.4</td> <td>9086.8</td>
</tr>
<tr>
<td>Ms. Pacman</td> <td>15693</td> <td>1241.3</td>
<td>2250.6</td> <td>1824.6</td> <td>653.7</td>
<td>3408</td> <td>2568</td>
</tr>
<tr>
<td>Private Eye</td> <td>69571</td> <td>-575.5</td>
<td>292.6</td> <td>179</td> <td>206.9</td>
<td>10747.4</td> <td>12702.2</td>
</tr>
<tr>
<td>Skiing</td> <td></td> <td>-11490.4</td>
<td>-11928</td> <td>-10852.8</td> <td>-10911.1</td>
<td>-7983.6</td> <td>-9011</td>
</tr>
<tr>
<td>Solaris</td> <td></td> <td>810</td>
<td>1768.4</td> <td>2238.2</td> <td>1956</td>
<td>160</td> <td>8324</td>
</tr>
<tr>
<td>YarsRevenge</td> <td></td> <td>6270.6</td>
<td>25976.5</td> <td>5965.1</td> <td>7157.5</td>
<td>24096.4</td> <td>28838.2</td>
</tr>
</tbody>
</table>
<br/>
<br/>
Two years later: <a href="https://arxiv.org/abs/2003.13350">Agent 57</a> outperforms many of these
</small>
</section>
</section>
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<div id="footer">
Evolutionary Computation by Dennis G. Wilson, Yuri Lavinas, Paul Templier
<br />
<a href="https://github.com/d9w/evolution/">https://github.com/d9w/evolution/</a>
<br />
<a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-sa/4.0/80x15.png" /></a>
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