AI Code Understanding

AI Code Understanding — independent reviews, comparisons, pricing and step-by-step guides on Aizhi.

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  Winner-take-all in action selection

  Winner-take-all is a computer science concept that has been widely applied in behavior-based robotics as a method of action selection for intelligent agents. Winner-take-all systems work by connecting modules (task-designated areas) in such a way that when one action is performed it stops all other actions from being performed, so only one action is occurring at a time. The name comes from the idea that the "winner" action takes all of the motor system's power. == History == In the 1980s and 1990s, many roboticists and cognitive scientists were attempting to find speedier and more efficient alternatives to the traditional world modeling method of action selection. In 1982, Jerome A. Feldman and D.H. Ballard published the "Connectionist Models and Their Properties", referencing and explaining winner-take-all as a method of action selection. Feldman's architecture functioned on the simple rule that in a network of interconnected action modules, each module will set its own output to zero if it reads a higher input than its own in any other module. In 1986, Rodney Brooks introduced behavior-based artificial intelligence. Winner-take-all architectures for action selection soon became a common feature of behavior-based robots, because selection occurred at the level of the action modules (bottom-up) rather than at a separate cognitive level (top-down), producing a tight coupling of stimulus and reaction. == Types of winner-take-all architectures == === Hierarchy === In the hierarchical architecture, actions or behaviors are programmed in a high-to-low priority list, with inhibitory connections between all the action modules. The agent performs low-priority behaviors until a higher-priority behavior is stimulated, at which point the higher behavior inhibits all other behaviors and takes over the motor system completely. Prioritized behaviors are usually key to the immediate survival of the agent, while behaviors of lower priority are less time-sensitive. For example, "run away from predator" would be ranked above "sleep." While this architecture allows for clear programming of goals, many roboticists have moved away from the hierarchy because of its inflexibility. === Heterarchy and fully distributed === In the heterarchy and fully distributed architecture, each behavior has a set of pre-conditions to be met before it can be performed, and a set of post-conditions that will be true after the action has been performed. These pre- and post-conditions determine the order in which behaviors must be performed and are used to causally connect action modules. This enables each module to receive input from other modules as well as from the sensors, so modules can recruit each other. For example, if the agent's goal were to reduce thirst, the behavior "drink" would require the pre-condition of having water available, so the module would activate the module in charge of "find water". The activations organize the behaviors into a sequence, even though only one action is performed at a time. The distribution of larger behaviors across modules makes this system flexible and robust to noise. Some critics of this model hold that any existing set of division rules for the predecessor and conflictor connections between modules produce sub-par action selection. In addition, the feedback loop used in the model can in some circumstances lead to improper action selection. === Arbiter and centrally coordinated === In the arbiter and centrally coordinated architecture, the action modules are not connected to each other but to a central arbiter. When behaviors are triggered, they begin "voting" by sending signals to the arbiter, and the behavior with the highest number of votes is selected. In these systems, bias is created through the "voting weight", or how often a module is allowed to vote. Some arbiter systems take a different spin on this type of winner-take-all by using a "compromise" feature in the arbiter. Each module is able to vote for or against each smaller action in a set of actions, and the arbiter selects the action with the most votes, meaning that it benefits the most behavior modules. This can be seen as violating the general rule against creating representations of the world in behavior-based AI, established by Brooks. By performing command fusion, the system is creating a larger composite pool of knowledge than is obtained from the sensors alone, forming a composite inner representation of the environment. Defenders of these systems argue that forbidding world-modeling puts unnecessary constraints on behavior-based robotics, and that agents benefits from forming representations and can still remain reactive.

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  Stress majorization

  Stress majorization is an optimization strategy used in multidimensional scaling (MDS) where, for a set of n {\displaystyle n} m {\displaystyle m} -dimensional data items, a configuration X {\displaystyle X} of n {\displaystyle n} points in r {\displaystyle r} ( ≪ m ) {\displaystyle (\ll m)} -dimensional space is sought that minimizes the so-called stress function σ ( X ) {\displaystyle \sigma (X)} . Usually r {\displaystyle r} is 2 {\displaystyle 2} or 3 {\displaystyle 3} , i.e. the ( n × r ) {\displaystyle (n\times r)} matrix X {\displaystyle X} lists points in 2 − {\displaystyle 2-} or 3 − {\displaystyle 3-} dimensional Euclidean space so that the result may be visualised (i.e. an MDS plot). The function σ {\displaystyle \sigma } is a cost or loss function that measures the squared differences between ideal ( m {\displaystyle m} -dimensional) distances and actual distances in r-dimensional space. It is defined as: σ ( X ) = ∑ i < j ≤ n w i j ( d i j ( X ) − δ i j ) 2 {\displaystyle \sigma (X)=\sum _{i Read more →

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  Vanishing gradient problem

  In machine learning, the vanishing gradient problem is the problem of greatly diverging gradient magnitudes between earlier and later layers encountered when training neural networks with backpropagation. In such methods, neural network weights are updated proportional to their partial derivative of the loss function. As the number of forward propagation steps in a network increases, for instance due to greater network depth, the gradients of earlier weights are calculated with increasingly many multiplications. These multiplications shrink the gradient magnitude. Consequently, the gradients of earlier weights will be exponentially smaller than the gradients of later weights. This difference in gradient magnitude might introduce instability in the training process, slow it, or halt it entirely. For instance, consider the hyperbolic tangent activation function. The gradients of this function are in range [0,1]. The product of repeated multiplication with such gradients decreases exponentially. The inverse problem, when weight gradients at earlier layers get exponentially larger, is called the exploding gradient problem. Backpropagation allowed researchers to train supervised deep artificial neural networks from scratch, initially with little success. Hochreiter's diplom thesis of 1991 formally identified the reason for this failure in the "vanishing gradient problem", which not only affects many-layered feedforward networks, but also recurrent networks. The latter are trained by unfolding them into very deep feedforward networks, where a new layer is created for each time-step of an input sequence processed by the network (the combination of unfolding and backpropagation is termed backpropagation through time). == Prototypical models == This section is based on the paper On the difficulty of training Recurrent Neural Networks by Pascanu, Mikolov, and Bengio. === Recurrent network model === A generic recurrent network has hidden states h 1 , h 2 , … {\displaystyle h_{1},h_{2},\dots } , inputs u 1 , u 2 , … {\displaystyle u_{1},u_{2},\dots } , and outputs x 1 , x 2 , … {\displaystyle x_{1},x_{2},\dots } . Let it be parameterized by θ {\displaystyle \theta } , so that the system evolves as ( h t , x t ) = F ( h t − 1 , u t , θ ) {\displaystyle (h_{t},x_{t})=F(h_{t-1},u_{t},\theta )} Often, the output x t {\displaystyle x_{t}} is a function of h t {\displaystyle h_{t}} , as some x t = G ( h t ) {\displaystyle x_{t}=G(h_{t})} . The vanishing gradient problem already presents itself clearly when x t = h t {\displaystyle x_{t}=h_{t}} , so we simplify our notation to the special case with: x t = F ( x t − 1 , u t , θ ) {\displaystyle x_{t}=F(x_{t-1},u_{t},\theta )} Now, take its differential: d x t = ∇ θ F ( x t − 1 , u t , θ ) d θ + ∇ x F ( x t − 1 , u t , θ ) d x t − 1 = ∇ θ F ( x t − 1 , u t , θ ) d θ + ∇ x F ( x t − 1 , u t , θ ) [ ∇ θ F ( x t − 2 , u t − 1 , θ ) d θ + ∇ x F ( x t − 2 , u t − 1 , θ ) d x t − 2 ] ⋮ = [ ∇ θ F ( x t − 1 , u t , θ ) + ∇ x F ( x t − 1 , u t , θ ) ∇ θ F ( x t − 2 , u t − 1 , θ ) + ⋯ ] d θ {\displaystyle {\begin{aligned}dx_{t}&=\nabla _{\theta }F(x_{t-1},u_{t},\theta )d\theta +\nabla _{x}F(x_{t-1},u_{t},\theta )dx_{t-1}\\&=\nabla _{\theta }F(x_{t-1},u_{t},\theta )d\theta +\nabla _{x}F(x_{t-1},u_{t},\theta )\left[\nabla _{\theta }F(x_{t-2},u_{t-1},\theta )d\theta +\nabla _{x}F(x_{t-2},u_{t-1},\theta )dx_{t-2}\right]\\&\;\;\vdots \\&=\left[\nabla _{\theta }F(x_{t-1},u_{t},\theta )+\nabla _{x}F(x_{t-1},u_{t},\theta )\nabla _{\theta }F(x_{t-2},u_{t-1},\theta )+\cdots \right]d\theta \end{aligned}}} Training the network requires us to define a loss function to be minimized. Let it be L ( x T , u 1 , … , u T ) {\displaystyle L(x_{T},u_{1},\dots ,u_{T})} , then minimizing it by gradient descent gives Δ θ = − η ⋅ [ ∇ x L ( x T ) ( ∇ θ F ( x t − 1 , u t , θ ) + ∇ x F ( x t − 1 , u t , θ ) ∇ θ F ( x t − 2 , u t − 1 , θ ) + ⋯ ) ] T {\displaystyle \Delta \theta =-\eta \cdot \left[\nabla _{x}L(x_{T})\left(\nabla _{\theta }F(x_{t-1},u_{t},\theta )+\nabla _{x}F(x_{t-1},u_{t},\theta )\nabla _{\theta }F(x_{t-2},u_{t-1},\theta )+\cdots \right)\right]^{T}} where η {\displaystyle \eta } is the learning rate. The vanishing/exploding gradient problem appears because there are repeated multiplications, of the form ∇ x F ( x t − 1 , u t , θ ) ∇ x F ( x t − 2 , u t − 1 , θ ) ∇ x F ( x t − 3 , u t − 2 , θ ) ⋯ {\displaystyle \nabla _{x}F(x_{t-1},u_{t},\theta )\nabla _{x}F(x_{t-2},u_{t-1},\theta )\nabla _{x}F(x_{t-3},u_{t-2},\theta )\cdots } ==== Example: recurrent network with sigmoid activation ==== For a concrete example, consider a typical recurrent network defined by x t = F ( x t − 1 , u t , θ ) = W rec σ ( x t − 1 ) + W in u t + b {\displaystyle x_{t}=F(x_{t-1},u_{t},\theta )=W_{\text{rec}}\sigma (x_{t-1})+W_{\text{in}}u_{t}+b} where θ = ( W rec , W in ) {\displaystyle \theta =(W_{\text{rec}},W_{\text{in}})} is the network parameter, σ {\displaystyle \sigma } is the sigmoid activation function, applied to each vector coordinate separately, and b {\displaystyle b} is the bias vector. Then, ∇ x F ( x t − 1 , u t , θ ) = W rec diag ⁡ ( σ ′ ( x t − 1 ) ) {\displaystyle \nabla _{x}F(x_{t-1},u_{t},\theta )=W_{\text{rec}}\operatorname {diag} (\sigma '(x_{t-1}))} , and so ∇ x F ( x t − 1 , u t , θ ) ∇ x F ( x t − 2 , u t − 1 , θ ) ⋯ ∇ x F ( x t − k , u t − k + 1 , θ ) = W rec diag ⁡ ( σ ′ ( x t − 1 ) ) W rec diag ⁡ ( σ ′ ( x t − 2 ) ) ⋯ W rec diag ⁡ ( σ ′ ( x t − k ) ) {\displaystyle {\begin{aligned}&\nabla _{x}F(x_{t-1},u_{t},\theta )\nabla _{x}F(x_{t-2},u_{t-1},\theta )\cdots \nabla _{x}F(x_{t-k},u_{t-k+1},\theta )\\&=W_{\text{rec}}\operatorname {diag} (\sigma '(x_{t-1}))W_{\text{rec}}\operatorname {diag} (\sigma '(x_{t-2}))\cdots W_{\text{rec}}\operatorname {diag} (\sigma '(x_{t-k}))\end{aligned}}} Since | σ ′ | ≤ 1 {\displaystyle \left|\sigma '\right|\leq 1} , the operator norm of the above multiplication is bounded above by ‖ W rec ‖ k {\displaystyle \left\|W_{\text{rec}}\right\|^{k}} . So if the spectral radius of W rec {\displaystyle W_{\text{rec}}} is γ < 1 {\displaystyle \gamma <1} , then at large k {\displaystyle k} , the above multiplication has operator norm bounded above by γ k → 0 {\displaystyle \gamma ^{k}\to 0} . This is the prototypical vanishing gradient problem. The effect of a vanishing gradient is that the network cannot learn long-range effects. Recall Equation (loss differential): ∇ θ L = ∇ x L ( x T , u 1 , … , u T ) [ ∇ θ F ( x t − 1 , u t , θ ) + ∇ x F ( x t − 1 , u t , θ ) ∇ θ F ( x t − 2 , u t − 1 , θ ) + ⋯ ] {\displaystyle \nabla _{\theta }L=\nabla _{x}L(x_{T},u_{1},\dots ,u_{T})\left[\nabla _{\theta }F(x_{t-1},u_{t},\theta )+\nabla _{x}F(x_{t-1},u_{t},\theta )\nabla _{\theta }F(x_{t-2},u_{t-1},\theta )+\cdots \right]} The components of ∇ θ F ( x , u , θ ) {\displaystyle \nabla _{\theta }F(x,u,\theta )} are just components of σ ( x ) {\displaystyle \sigma (x)} and u {\displaystyle u} , so if u t , u t − 1 , … {\displaystyle u_{t},u_{t-1},\dots } are bounded, then ‖ ∇ θ F ( x t − k − 1 , u t − k , θ ) ‖ {\displaystyle \left\|\nabla _{\theta }F(x_{t-k-1},u_{t-k},\theta )\right\|} is also bounded by some M > 0 {\displaystyle M>0} , and so the terms in ∇ θ L {\displaystyle \nabla _{\theta }L} decay as M γ k {\displaystyle M\gamma ^{k}} . This means that, effectively, ∇ θ L {\displaystyle \nabla _{\theta }L} is affected only by the first O ( γ − 1 ) {\displaystyle O(\gamma ^{-1})} terms in the sum. If γ ≥ 1 {\displaystyle \gamma \geq 1} , the above analysis does not quite work. For the prototypical exploding gradient problem, the next model is clearer. === Dynamical systems model === Following (Doya, 1993), consider this one-neuron recurrent network with sigmoid activation: x t + 1 = ( 1 − ε ) x t + ε σ ( w x t + b ) + ε w ′ u t {\displaystyle x_{t+1}=(1-\varepsilon )x_{t}+\varepsilon \sigma (wx_{t}+b)+\varepsilon w'u_{t}} At the small ε {\displaystyle \varepsilon } limit, the dynamics of the network becomes d x d t = − x ( t ) + σ ( w x ( t ) + b ) + w ′ u ( t ) {\displaystyle {\frac {dx}{dt}}=-x(t)+\sigma (wx(t)+b)+w'u(t)} Consider first the autonomous case, with u = 0 {\displaystyle u=0} . Set w = 5.0 {\displaystyle w=5.0} , and vary b {\displaystyle b} in [ − 3 , − 2 ] {\displaystyle [-3,-2]} . As b {\displaystyle b} decreases, the system has 1 stable point, then has 2 stable points and 1 unstable point, and finally has 1 stable point again. Explicitly, the stable points are ( x , b ) = ( x , ln ⁡ ( x 1 − x ) − 5 x ) {\displaystyle (x,b)=\left(x,\ln \left({\frac {x}{1-x}}\right)-5x\right)} . Now consider Δ x ( T ) Δ x ( 0 ) {\displaystyle {\frac {\Delta x(T)}{\Delta x(0)}}} and Δ x ( T ) Δ b {\displaystyle {\frac {\Delta x(T)}{\Delta b}}} , where T {\displaystyle T} is large enough that the system has settled into one of the stable points. If ( x ( 0 ) , b ) {\displaystyle (x(0),b)} puts the system very close to an unstable point, then a tiny variation in x ( 0 ) {\displaystyle x(0)} or b {\displaystyle b} wo

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  Stochastic gradient descent

  Stochastic gradient descent (often abbreviated SGD) is an iterative method for optimizing an objective function with suitable smoothness properties (e.g. differentiable or subdifferentiable). It can be regarded as a stochastic approximation of gradient descent optimization, since it replaces the actual gradient (calculated from the entire data set) by an estimate thereof (calculated from a randomly selected subset of the data). Especially in high-dimensional optimization problems this reduces the very high computational burden, achieving faster iterations in exchange for a lower convergence rate. The basic idea behind stochastic approximation can be traced back to the Robbins–Monro algorithm of the 1950s. Today, stochastic gradient descent has become an important optimization method in machine learning. == Background == Both statistical estimation and machine learning consider the problem of minimizing an objective function that has the form of a sum: Q ( w ) = 1 n ∑ i = 1 n Q i ( w ) , {\displaystyle Q(w)={\frac {1}{n}}\sum _{i=1}^{n}Q_{i}(w),} where the parameter w {\displaystyle w} that minimizes Q ( w ) {\displaystyle Q(w)} is to be estimated. Each summand function Q i {\displaystyle Q_{i}} is typically associated with the i {\displaystyle i} -th observation in the data set (used for training). In classical statistics, sum-minimization problems arise in least squares and in maximum-likelihood estimation (for independent observations). The general class of estimators that arise as minimizers of sums are called M-estimators. However, in statistics, it has been long recognized that requiring even local minimization is too restrictive for some problems of maximum-likelihood estimation. Therefore, contemporary statistical theorists often consider stationary points of the likelihood function (or zeros of its derivative, the score function, and other estimating equations). The sum-minimization problem also arises for empirical risk minimization. There, Q i ( w ) {\displaystyle Q_{i}(w)} is the value of the loss function at i {\displaystyle i} -th example, and Q ( w ) {\displaystyle Q(w)} is the empirical risk. When used to minimize the above function, a standard (or "batch") gradient descent method would perform the following iterations: w := w − η ∇ Q ( w ) = w − η n ∑ i = 1 n ∇ Q i ( w ) . {\displaystyle w:=w-\eta \,\nabla Q(w)=w-{\frac {\eta }{n}}\sum _{i=1}^{n}\nabla Q_{i}(w).} The step size is denoted by η {\displaystyle \eta } (sometimes called the learning rate in machine learning) and here " := {\displaystyle :=} " denotes the update of a variable in the algorithm. In many cases, the summand functions have a simple form that enables inexpensive evaluations of the sum-function and the sum gradient. For example, in statistics, one-parameter exponential families allow economical function-evaluations and gradient-evaluations. However, in other cases, evaluating the sum-gradient may require expensive evaluations of the gradients from all summand functions. When the training set is enormous and no simple formulas exist, evaluating the sums of gradients becomes very expensive, because evaluating the gradient requires evaluating all the summand functions' gradients. To economize on the computational cost at every iteration, stochastic gradient descent samples a subset of summand functions at every step. This is very effective in the case of large-scale machine learning problems. == Iterative method == In stochastic (or "on-line") gradient descent, the true gradient of Q ( w ) {\displaystyle Q(w)} is approximated by a gradient at a single sample: w := w − η ∇ Q i ( w ) . {\displaystyle w:=w-\eta \,\nabla Q_{i}(w).} As the algorithm sweeps through the training set, it performs the above update for each training sample. Several passes can be made over the training set until the algorithm converges. If this is done, the data can be shuffled for each pass to prevent cycles. Typical implementations may use an adaptive learning rate so that the algorithm converges. In pseudocode, stochastic gradient descent can be presented as : A compromise between computing the true gradient and the gradient at a single sample is to compute the gradient against more than one training sample (called a "mini-batch") at each step. This can perform significantly better than "true" stochastic gradient descent described, because the code can make use of vectorization libraries rather than computing each step separately as was first shown in where it was called "the bunch-mode back-propagation algorithm". It may also result in smoother convergence, as the gradient computed at each step is averaged over more training samples. The convergence of stochastic gradient descent has been analyzed using the theories of convex minimization and of stochastic approximation. Briefly, when the learning rates η {\displaystyle \eta } decrease with an appropriate rate, and subject to relatively mild assumptions, stochastic gradient descent converges almost surely to a global minimum when the objective function is convex or pseudoconvex, and otherwise converges almost surely to a local minimum. This is in fact a consequence of the Robbins–Siegmund theorem. == Linear regression == Suppose we want to fit a straight line y ^ = w 1 + w 2 x {\displaystyle {\hat {y}}=w_{1}+w_{2}x} to a training set with observations ( ( x 1 , y 1 ) , ( x 2 , y 2 ) … , ( x n , y n ) ) {\displaystyle ((x_{1},y_{1}),(x_{2},y_{2})\ldots ,(x_{n},y_{n}))} and corresponding estimated responses ( y ^ 1 , y ^ 2 , … , y ^ n ) {\displaystyle ({\hat {y}}_{1},{\hat {y}}_{2},\ldots ,{\hat {y}}_{n})} using least squares. The objective function to be minimized is Q ( w ) = ∑ i = 1 n Q i ( w ) = ∑ i = 1 n ( y ^ i − y i ) 2 = ∑ i = 1 n ( w 1 + w 2 x i − y i ) 2 . {\displaystyle Q(w)=\sum _{i=1}^{n}Q_{i}(w)=\sum _{i=1}^{n}\left({\hat {y}}_{i}-y_{i}\right)^{2}=\sum _{i=1}^{n}\left(w_{1}+w_{2}x_{i}-y_{i}\right)^{2}.} The last line in the above pseudocode for this specific problem will become: [ w 1 w 2 ] ← [ w 1 w 2 ] − η [ ∂ ∂ w 1 ( w 1 + w 2 x i − y i ) 2 ∂ ∂ w 2 ( w 1 + w 2 x i − y i ) 2 ] = [ w 1 w 2 ] − η [ 2 ( w 1 + w 2 x i − y i ) 2 x i ( w 1 + w 2 x i − y i ) ] . {\displaystyle {\begin{bmatrix}w_{1}\\w_{2}\end{bmatrix}}\leftarrow {\begin{bmatrix}w_{1}\\w_{2}\end{bmatrix}}-\eta {\begin{bmatrix}{\frac {\partial }{\partial w_{1}}}(w_{1}+w_{2}x_{i}-y_{i})^{2}\\{\frac {\partial }{\partial w_{2}}}(w_{1}+w_{2}x_{i}-y_{i})^{2}\end{bmatrix}}={\begin{bmatrix}w_{1}\\w_{2}\end{bmatrix}}-\eta {\begin{bmatrix}2(w_{1}+w_{2}x_{i}-y_{i})\\2x_{i}(w_{1}+w_{2}x_{i}-y_{i})\end{bmatrix}}.} Note that in each iteration or update step, the gradient is only evaluated at a single x i {\displaystyle x_{i}} . This is the key difference between stochastic gradient descent and batched gradient descent. In general, given a linear regression y ^ = ∑ k ∈ 1 : m w k x k {\displaystyle {\hat {y}}=\sum _{k\in 1:m}w_{k}x_{k}} problem, stochastic gradient descent behaves differently when m < n {\displaystyle m

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  Tactical NAV

  Tactical NAV, also known as TACNAV-X, is a location-based tracking app designed for use by military personnel. The app is primarily designed to assist in pinpointing enemy fire and mapping waypoints. Tactical NAV also helps users efficiently relay critical information to tactical operations centers for prompt decision-making regarding airstrikes or medical evacuations. The TACNAV-X platform is intended to enhance situational awareness, refine navigation capabilities, and assist in tactical decision-making across various operational environments. == Overview == Tactical NAV allows users to pinpoint enemy fire. == History == Tactical NAV was designed by U.S. Army Captain Jonathan J. Springer, a Field Artillery officer serving as a Battalion Fire Support Officer (FSO) in the 101st Airborne Division. Springer conceived the idea for the app during his third tour in Afghanistan in support of Operation Enduring Freedom. On June 25, 2010, after a rocket attack by the Taliban killed two soldiers in his battalion, he was inspired to create an app that would prevent similar losses in the future, enhance situational awareness, and assist soldiers serving on combat deployments. In 2010, Springer founded TacNav Systems (formerly AppDaddy Technologies) to develop mobile applications for use by military personnel. He tested the app during combat operations in eastern Afghanistan and verified TACNAV-X's accuracy using DAGRs, AFATDS, Falcon View, CPOF, ATAK, and other approved Department of Defense (DoD) systems. As of 2012, the app had been downloaded 8,000 times.

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  Generalized blockmodeling

  In generalized blockmodeling, the blockmodeling is done by "the translation of an equivalence type into a set of permitted block types", which differs from the conventional blockmodeling, which is using the indirect approach. It's a special instance of the direct blockmodeling approach. Generalized blockmodeling was introduced in 1994 by Patrick Doreian, Vladimir Batagelj and Anuška Ferligoj. == Definition == Generalized blockmodeling approach is a direct one, "where the optimal partition(s) is (are) identified based on minimal values of a compatible criterion function defined by the difference between empirical blocks and corresponding ideal blocks". At the same time, the much broader set of block types is introduced (while in conventional blockmodeling only certain types are used). The conventional blockmodeling is inductive due to nonspecification of neither the clusters or the location of block types, while in generalized blockmodeling the blockmodel is specified with more detail than just the permition of certain block types (e.g., prespecification). Further, it's possible to define departures from the permitted (ideal) blocktype, using criterion function. Using local optimization procedure, firstly the initial clustering (with specified number of clusters is done, based on random creation. How the clusters are neighboring to each other, is based on two transformations: 1) a vertex is moved from one to another cluster or 2) a pair of vertices is interchanged between two different clusters. This process of transformation steps is repeated many times, until only the best fitting partitions (with the minimized value of the criterion function) are kept as blockmodels for the future exploration of the network. Different types of generalized blockmodeling are: generalized binary blockmodeling, generalized valued blockmodeling and generalized homogeneity blockmodeling. == Benefits == According to Patrick Doreian, the benefits of generalized blockmodeling, are as follows: usage of explicit criterion function, compatible with a given type of equivalence, results to in-built measure of fit, which is integral to the establishment of the blockmodels (in conventional blockmodeling, there is no compelling and coherent measures of fit); partitions, based on generalized blockmodeling, regularly outperform and never perform less well than the partitions, based on conventional approach; with generalized blockmodeling it's possible to specify new types of blockmodels; this potentially unlimited set of new block types also results in permittion of inclusion of substantively driven blockmodels; in generalized blockmodeling, the specification of the block types and the location of some of them in the blockmodel is possible; researcher can speficy which (pair of) vertices must be (not) clustered together; this approach also allows the imposition of penalties, resulting into identification of empirical null blocks without inconsistencies with a corresponding ideal null block. == Problems == According to Doreian, the problems of generalized blockmodeling, are as follows: unknown sensitivity to particular data features, examination of boundary problems, computationally burdensome, which results in a constraint regarding practical network size (generalized blockmodeling is thus primarily used to analyse smaller networks (below 100 units)), identifying structure from incomplete network information, most of generalized blockmodeling is based on binary networks, but there is also development in the field of valued networks, criterion function is minimized for a specified blockmodel, with results in issues of evaluating statistically, based on the structural data alone, problems regarding three dimensional network data, problems regarding the evolution of fundamental network structure. == Book == The book with the same title, Generalized blockmodeling, written by Patrick Doreian, Vladimir Batagelj and Anuška Ferligoj, was in 2007 awarded the Harrison White Outstanding Book Award by the Mathematical Sociology Section of American Sociological Association.

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  Teacher forcing

  Teacher forcing is an algorithm for training the weights of recurrent neural networks (RNNs). It involves feeding observed sequence values (i.e. ground-truth samples) back into the RNN after each step, thus forcing the RNN to stay close to the ground-truth sequence. The term "teacher forcing" can be motivated by comparing the RNN to a human student taking a multi-part exam where the answer to each part (for example a mathematical calculation) depends on the answer to the preceding part. In this analogy, rather than grading every answer in the end, with the risk that the student fails every single part even though they only made a mistake in the first one, a teacher records the score for each individual part and then tells the student the correct answer, to be used in the next part. The use of an external teacher signal is in contrast to real-time recurrent learning (RTRL). Teacher signals are known from oscillator networks. The promise is, that teacher forcing helps to reduce the training time. The term "teacher forcing" was introduced in 1989 by Ronald J. Williams and David Zipser, who reported that the technique was already being "frequently used in dynamical supervised learning tasks" around that time. A NeurIPS 2016 paper introduced the related method of "professor forcing".

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  Synaptic transistor

  A synaptic transistor is an electrical device that can learn in ways similar to a neural synapse. It optimizes its own properties for the functions it has carried out in the past. The device mimics the behavior of the property of neurons called spike-timing-dependent plasticity, or STDP. == Structure == Its structure is similar to that of a field effect transistor, where an ionic liquid takes the place of the gate insulating layer between the gate electrode and the conducting channel. That channel is composed of samarium nickelate (SmNiO3, or SNO) rather than the field effect transistor's doped silicon. == Function == A synaptic transistor has a traditional immediate response whose amount of current that passes between the source and drain contacts varies with voltage applied to the gate electrode. It also produces a much slower learned response such that the conductivity of the SNO layer varies in response to the transistor's STDP history, essentially by shuttling oxygen ions between the SNO and the ionic liquid. The analog of strengthening a synapse is to increase the SNO's conductivity, which essentially increases gain. Similarly, weakening a synapse is analogous to decreasing the SNO's conductivity, lowering the gain. The input and output of the synaptic transistor are continuous analog values, rather than digital on-off signals. While the physical structure of the device has the potential to learn from history, it contains no way to bias the transistor to control the memory effect. An external supervisory circuit converts the time delay between input and output into a voltage applied to the ionic liquid that either drives ions into the SNO or removes them. A network of such devices can learn particular responses to "sensory inputs", with those responses being learned through experience rather than explicitly programmed.

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  Vote Compass

  Vote Compass is an interactive, online voting advice application developed by political scientists and run during election campaigns. It surveys users about their political views and, based on their responses, calculates the individual alignment of each user with the parties or candidates running in a given election contest. It is operated by a social enterprise called Vox Pop Labs in partnership with locale-specific news organizations, including the Wall Street Journal, Vox Media, the Canadian and Australian Broadcasting Corporations, Television New Zealand, France24, RTL Group, and Grupo Globo. Vote Compass also operates under the trademarks Boussole électorale and Wahl-Navi for French- and German-language iterations, respectively. == Background == Vote Compass was developed by Clifton van der Linden, a professor in the Department of Political Science at McMaster University. It is run by van der Linden along with a team of social and statistical scientists from Vox Pop Labs. Although inspired by European Voting Advice Applications, van der Linden explicitly rejects this terminology, arguing that Vote Compass was "never intended to account for every variable that influences voter choice and its results should not be interpreted as voting advice." == Methodology == Using a Likert scale, users indicate their responses to a series of policy propositions designed to discriminate between candidates' policies on prominent issues relevant to the election. Propositions are crafted in collaboration with political scientists local to each jurisdiction in which Vote Compass is run. Based on a candidate or political party's public disclosures (i.e. party manifestos, policy proposals, official websites, speeches, media releases, statements made in the legislature, etc.) they are calibrated on the same propositions and scales as are users. A series of aggregation algorithms calculate the overall distance between the user and the candidates or parties. There have been claims that Vote Compass surveys have the potential to become push polling, if the survey questions posed are poorly designed.

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  Quadratic classifier

  In statistics, a quadratic classifier is a statistical classifier that uses a quadratic decision surface to separate measurements of two or more classes of objects or events. It is a more general version of the linear classifier. == The classification problem == Statistical classification considers a set of vectors of observations x of an object or event, each of which has a known type y. This set is referred to as the training set. The problem is then to determine, for a given new observation vector, what the best class should be. For a quadratic classifier, the correct solution is assumed to be quadratic in the measurements, so y will be decided based on x T A x + b T x + c {\displaystyle \mathbf {x^{T}Ax} +\mathbf {b^{T}x} +c} In the special case where each observation consists of two measurements, this means that the surfaces separating the classes will be conic sections (i.e., either a line, a circle or ellipse, a parabola or a hyperbola). In this sense, we can state that a quadratic model is a generalization of the linear model, and its use is justified by the desire to extend the classifier's ability to represent more complex separating surfaces. == Quadratic discriminant analysis == Quadratic discriminant analysis (QDA) is closely related to linear discriminant analysis (LDA), where it is assumed that the measurements from each class are normally distributed. Unlike LDA however, in QDA there is no assumption that the covariance of each of the classes is identical. When the normality assumption is true, the best possible test for the hypothesis that a given measurement is from a given class is the likelihood ratio test. Suppose there are only two groups, with means μ 0 , μ 1 {\displaystyle \mu _{0},\mu _{1}} and covariance matrices Σ 0 , Σ 1 {\displaystyle \Sigma _{0},\Sigma _{1}} corresponding to y = 0 {\displaystyle y=0} and y = 1 {\displaystyle y=1} respectively. Then the likelihood ratio is given by Likelihood ratio = | 2 π Σ 1 | − 1 exp ⁡ ( − 1 2 ( x − μ 1 ) T Σ 1 − 1 ( x − μ 1 ) ) | 2 π Σ 0 | − 1 exp ⁡ ( − 1 2 ( x − μ 0 ) T Σ 0 − 1 ( x − μ 0 ) ) < t {\displaystyle {\text{Likelihood ratio}}={\frac {{\sqrt {|2\pi \Sigma _{1}|}}^{-1}\exp \left(-{\frac {1}{2}}(\mathbf {x} -{\boldsymbol {\mu }}_{1})^{T}\Sigma _{1}^{-1}(\mathbf {x} -{\boldsymbol {\mu }}_{1})\right)}{{\sqrt {|2\pi \Sigma _{0}|}}^{-1}\exp \left(-{\frac {1}{2}}(\mathbf {x} -{\boldsymbol {\mu }}_{0})^{T}\Sigma _{0}^{-1}(\mathbf {x} -{\boldsymbol {\mu }}_{0})\right)}} Read more →

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  Clustering illusion

  The clustering illusion is the tendency to erroneously consider the inevitable "streaks" or "clusters" arising in small samples from random distributions to be non-random. The illusion is caused by a human tendency to underpredict the amount of variability likely to appear in a small sample of random or pseudorandom data. Thomas Gilovich, an early author on the subject, argued that the effect occurs for different types of random dispersions. Some might perceive patterns in stock market price fluctuations over time, or clusters in two-dimensional data such as the locations of impact of World War II V-1 flying bombs on maps of London. Although Londoners developed specific theories about the pattern of impacts within London, a statistical analysis by R. D. Clarke originally published in 1946 showed that the impacts of V-2 rockets on London were a close fit to a random distribution. == Similar biases == Using this cognitive bias in causal reasoning may result in the Texas sharpshooter fallacy, in which differences in data are ignored and similarities are overemphasized. More general forms of erroneous pattern recognition are pareidolia and apophenia. Related biases are the illusion of control which the clustering illusion could contribute to, and insensitivity to sample size in which people don't expect greater variation in smaller samples. A different cognitive bias involving misunderstanding of chance streams is the gambler's fallacy. == Possible causes == Daniel Kahneman and Amos Tversky explained this kind of misprediction as being caused by the representativeness heuristic (which itself they also first proposed).

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  Variable kernel density estimation

  In statistics, adaptive or "variable-bandwidth" kernel density estimation is a form of kernel density estimation in which the size of the kernels used in the estimate are varied depending upon either the location of the samples or the location of the test point. It is a particularly effective technique when the sample space is multi-dimensional. == Rationale == Given a set of samples, { x → i } {\displaystyle \lbrace {\vec {x}}_{i}\rbrace } , we wish to estimate the density, P ( x → ) {\displaystyle P({\vec {x}})} , at a test point, x → {\displaystyle {\vec {x}}} : P ( x → ) ≈ W n h D {\displaystyle P({\vec {x}})\approx {\frac {W}{nh^{D}}}} W = ∑ i = 1 n w i {\displaystyle W=\sum _{i=1}^{n}w_{i}} w i = K ( x → − x → i h ) {\displaystyle w_{i}=K\left({\frac {{\vec {x}}-{\vec {x}}_{i}}{h}}\right)} where n is the number of samples, K is the "kernel", h is its width and D is the number of dimensions in x → {\displaystyle {\vec {x}}} . The kernel can be thought of as a simple, linear filter. Using a fixed filter width may mean that in regions of low density, all samples will fall in the tails of the filter with very low weighting, while regions of high density will find an excessive number of samples in the central region with weighting close to unity. To fix this problem, we vary the width of the kernel in different regions of the sample space. There are two methods of doing this: balloon and pointwise estimation. In a balloon estimator, the kernel width is varied depending on the location of the test point. In a pointwise estimator, the kernel width is varied depending on the location of the sample. For multivariate estimators, the parameter, h, can be generalized to vary not just the size, but also the shape of the kernel. This more complicated approach will not be covered here. == Balloon estimators == A common method of varying the kernel width is to make it inversely proportional to the density at the test point: h = k [ n P ( x → ) ] 1 / D {\displaystyle h={\frac {k}{\left[nP({\vec {x}})\right]^{1/D}}}} where k is a constant. If we back-substitute the estimated PDF, and assuming a Gaussian kernel function, we can show that W is a constant: W = k D ( 2 π ) D / 2 {\displaystyle W=k^{D}(2\pi )^{D/2}} A similar derivation holds for any kernel whose normalising function is of the order hD, although with a different constant factor in place of the (2 π)D/2 term. This produces a generalization of the k-nearest neighbour algorithm. That is, a uniform kernel function will return the KNN technique. There are two components to the error: a variance term and a bias term. The variance term is given as: e 1 = P ∫ K 2 n h D {\displaystyle e_{1}={\frac {P\int K^{2}}{nh^{D}}}} . The bias term is found by evaluating the approximated function in the limit as the kernel width becomes much larger than the sample spacing. By using a Taylor expansion for the real function, the bias term drops out: e 2 = h 2 n ∇ 2 P {\displaystyle e_{2}={\frac {h^{2}}{n}}\nabla ^{2}P} An optimal kernel width that minimizes the error of each estimate can thus be derived. == Use for statistical classification == The method is particularly effective when applied to statistical classification. There are two ways we can proceed: the first is to compute the PDFs of each class separately, using different bandwidth parameters, and then compare them as in Taylor. Alternatively, we can divide up the sum based on the class of each sample: P ( j , x → ) ≈ 1 n ∑ i = 1 , c i = j n w i {\displaystyle P(j,{\vec {x}})\approx {\frac {1}{n}}\sum _{i=1,c_{i}=j}^{n}w_{i}} where ci is the class of the ith sample. The class of the test point may be estimated through maximum likelihood.

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  ViBe

  ViBe is a background subtraction algorithm which has been presented at the IEEE ICASSP 2009 conference and was refined in later publications. More precisely, it is a software module for extracting background information from moving images. It has been developed by Oliver Barnich and Marc Van Droogenbroeck of the Montefiore Institute, University of Liège, Belgium. ViBe is patented: the patent covers various aspects such as stochastic replacement, spatial diffusion, and non-chronological handling. ViBe is written in the programming language C, and has been implemented on CPU, GPU and FPGA. == Technical description == Source: === Pixel model and classification process === Many advanced techniques are used to provide an estimate of the temporal probability density function (pdf) of a pixel x. ViBe's approach is different, as it imposes the influence of a value in the polychromatic space to be limited to the local neighborhood. In practice, ViBe does not estimate the pdf, but uses a set of previously observed sample values as a pixel model. To classify a value pt(x), it is compared to its closest values among the set of samples. === Model update: Sample values lifespan policy === ViBe ensures a smooth exponentially decaying lifespan for the sample values that constitute the pixel models. This makes ViBe able to successfully deal with concomitant events with a single model of a reasonable size for each pixel. This is achieved by choosing, randomly, which sample to replace when updating a pixel model. Once the sample to be discarded has been chosen, the new value replaces the discarded sample. The pixel model that would result from the update of a given pixel model with a given pixel sample cannot be predicted since the value to be discarded is chosen at random. === Model update: Spatial Consistency === To ensure the spatial consistency of the whole image model and handle practical situations such as small camera movements or slowly evolving background objects, ViBe uses a technique similar to that developed for the updating process in which it chooses at random and update a pixel model in the neighborhood of the current pixel. By denoting NG(x) and p(x) respectively the spatial neighborhood of a pixel x and its value, and assuming that it was decided to update the set of samples of x by inserting p(x), then ViBe also use this value p(x) to update the set of samples of one of the pixels in the neighborhood NG(x), chosen at random. As a result, ViBe is able to produce spatially coherent results directly without the use of any post-processing method. === Model initialization === Although the model could easily recover from any type of initialization, for example by choosing a set of random values, it is convenient to get an accurate background estimate as soon as possible. Ideally a segmentation algorithm would like to be able to segment the video sequences starting from the second frame, the first frame being used to initialize the model. Since no temporal information is available prior to the second frame, ViBe populates the pixel models with values found in the spatial neighborhood of each pixel; more precisely, it initializes the background model with values taken randomly in each pixel neighborhood of the first frame. The background estimate is therefore valid starting from the second frame of a video sequence.

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  Physical neural network

  A physical neural network is a type of artificial neural network in which an electrically adjustable material is used to emulate the function of a neural synapse or a higher-order (dendritic) neuron model. "Physical" neural network is used to emphasize the reliance on physical hardware used to emulate neurons as opposed to software-based approaches. More generally the term is applicable to other artificial neural networks in which a memristor or other electrically adjustable resistance material is used to emulate a neural synapse. == Types of physical neural networks == === ADALINE === In the 1960s Bernard Widrow and Ted Hoff developed ADALINE (Adaptive Linear Neuron) which used electrochemical cells called memistors (memory resistors) to emulate synapses of an artificial neuron. The memistors were implemented as 3-terminal devices operating based on the reversible electroplating of copper such that the resistance between two of the terminals is controlled by the integral of the current applied via the third terminal. The ADALINE circuitry was briefly commercialized by the Memistor Corporation in the 1960s enabling some applications in pattern recognition. However, since the memistors were not fabricated using integrated circuit fabrication techniques the technology was not scalable and was eventually abandoned as solid-state electronics became mature. === Analog VLSI === In 1989 Carver Mead published his book Analog VLSI and Neural Systems, which spun off perhaps the most common variant of analog neural networks. The physical realization is implemented in analog VLSI. This is often implemented as field effect transistors in low inversion. Such devices can be modelled as translinear circuits. This is a technique described by Barrie Gilbert in several papers around mid 1970th, and in particular his Translinear Circuits from 1981. With this method circuits can be analyzed as a set of well-defined functions in steady-state, and such circuits assembled into complex networks. === Physical Neural Network === Alex Nugent describes a physical neural network as one or more nonlinear neuron-like nodes used to sum signals and nanoconnections formed from nanoparticles, nanowires, or nanotubes which determine the signal strength input to the nodes. Alignment or self-assembly of the nanoconnections is determined by the history of the applied electric field performing a function analogous to neural synapses. Numerous applications for such physical neural networks are possible. For example, a temporal summation device can be composed of one or more nanoconnections having an input and an output thereof, wherein an input signal provided to the input causes one or more of the nanoconnection to experience an increase in connection strength thereof over time. Another example of a physical neural network is taught by U.S. Patent No. 7,039,619 entitled "Utilized nanotechnology apparatus using a neural network, a solution and a connection gap," which issued to Alex Nugent by the U.S. Patent & Trademark Office on May 2, 2006. A further application of physical neural network is shown in U.S. Patent No. 7,412,428 entitled "Application of hebbian and anti-hebbian learning to nanotechnology-based physical neural networks," which issued on August 12, 2008. Nugent and Molter have shown that universal computing and general-purpose machine learning are possible from operations available through simple memristive circuits operating the AHaH plasticity rule. More recently, it has been argued that also complex networks of purely memristive circuits can serve as neural networks. === Phase change neural network === In 2002, Stanford Ovshinsky described an analog neural computing medium in which phase-change material has the ability to cumulatively respond to multiple input signals. An electrical alteration of the resistance of the phase change material is used to control the weighting of the input signals. === Memristive neural network === Greg Snider of HP Labs describes a system of cortical computing with memristive nanodevices. The memristors (memory resistors) are implemented by thin film materials in which the resistance is electrically tuned via the transport of ions or oxygen vacancies within the film. DARPA's SyNAPSE project has funded IBM Research and HP Labs, in collaboration with the Boston University Department of Cognitive and Neural Systems (CNS), to develop neuromorphic architectures which may be based on memristive systems. === Protonic artificial synapses === In 2022, researchers reported the development of nanoscale brain-inspired artificial synapses, using the ion proton (H+), for 'analog deep learning'.

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  Genetic representation

  In computer programming, genetic representation is a way of presenting solutions/individuals in evolutionary computation methods. The term encompasses both the concrete data structures and data types used to realize the genetic material of the candidate solutions in the form of a genome, and the relationships between search space and problem space. In the simplest case, the search space corresponds to the problem space (direct representation). The choice of problem representation is tied to the choice of genetic operators, both of which have a decisive effect on the efficiency of the optimization. Genetic representation can encode appearance, behavior, physical qualities of individuals. Difference in genetic representations is one of the major criteria drawing a line between known classes of evolutionary computation. Terminology is often analogous with natural genetics. The block of computer memory that represents one candidate solution is called an individual. The data in that block is called a chromosome. Each chromosome consists of genes. The possible values of a particular gene are called alleles. A programmer may represent all the individuals of a population using binary encoding, permutational encoding, encoding by tree, or any one of several other representations. == Representations in some popular evolutionary algorithms == Genetic algorithms (GAs) are typically linear representations; these are often, but not always, binary. Holland's original description of GA used arrays of bits. Arrays of other types and structures can be used in essentially the same way. The main property that makes these genetic representations convenient is that their parts are easily aligned due to their fixed size. This facilitates simple crossover operation. Depending on the application, variable-length representations have also been successfully used and tested in evolutionary algorithms (EA) in general and genetic algorithms in particular, although the implementation of crossover is more complex in this case. Evolution strategy uses linear real-valued representations, e.g., an array of real values. It uses mostly gaussian mutation and blending/averaging crossover. Genetic programming (GP) pioneered tree-like representations and developed genetic operators suitable for such representations. Tree-like representations are used in GP to represent and evolve functional programs with desired properties. Human-based genetic algorithm (HBGA) offers a way to avoid solving hard representation problems by outsourcing all genetic operators to outside agents, in this case, humans. The algorithm has no need for knowledge of a particular fixed genetic representation as long as there are enough external agents capable of handling those representations, allowing for free-form and evolving genetic representations. === Common genetic representations === binary array integer or real-valued array binary tree natural language parse tree directed graph == Distinction between search space and problem space == Analogous to biology, EAs distinguish between problem space (corresponds to phenotype) and search space (corresponds to genotype). The problem space contains concrete solutions to the problem being addressed, while the search space contains the encoded solutions. The mapping from search space to problem space is called genotype-phenotype mapping. The genetic operators are applied to elements of the search space, and for evaluation, elements of the search space are mapped to elements of the problem space via genotype-phenotype mapping. == Relationships between search space and problem space == The importance of an appropriate choice of search space for the success of an EA application was recognized early on. The following requirements can be placed on a suitable search space and thus on a suitable genotype-phenotype mapping: === Completeness === All possible admissible solutions must be contained in the search space. === Redundancy === When more possible genotypes exist than phenotypes, the genetic representation of the EA is called redundant. In nature, this is termed a degenerate genetic code. In the case of a redundant representation, neutral mutations are possible. These are mutations that change the genotype but do not affect the phenotype. Thus, depending on the use of the genetic operators, there may be phenotypically unchanged offspring, which can lead to unnecessary fitness determinations, among other things. Since the evaluation in real-world applications usually accounts for the lion's share of the computation time, it can slow down the optimization process. In addition, this can cause the population to have higher genotypic diversity than phenotypic diversity, which can also hinder evolutionary progress. In biology, the Neutral Theory of Molecular Evolution states that this effect plays a dominant role in natural evolution. This has motivated researchers in the EA community to examine whether neutral mutations can improve EA functioning by giving populations that have converged to a local optimum a way to escape that local optimum through genetic drift. This is discussed controversially and there are no conclusive results on neutrality in EAs. On the other hand, there are other proven measures to handle premature convergence. === Locality === The locality of a genetic representation corresponds to the degree to which distances in the search space are preserved in the problem space after genotype-phenotype mapping. That is, a representation has a high locality exactly when neighbors in the search space are also neighbors in the problem space. In order for successful schemata not to be destroyed by genotype-phenotype mapping after a minor mutation, the locality of a representation must be high. === Scaling === In genotype-phenotype mapping, the elements of the genotype can be scaled (weighted) differently. The simplest case is uniform scaling: all elements of the genotype are equally weighted in the phenotype. A common scaling is exponential. If integers are binary coded, the individual digits of the resulting binary number have exponentially different weights in representing the phenotype. Example: The number 90 is written in binary (i.e., in base two) as 1011010. If now one of the front digits is changed in the binary notation, this has a significantly greater effect on the coded number than any changes at the rear digits (the selection pressure has an exponentially greater effect on the front digits). For this reason, exponential scaling has the effect of randomly fixing the "posterior" locations in the genotype before the population gets close enough to the optimum to adjust for these subtleties. == Hybridization and repair in genotype-phenotype mapping == When mapping the genotype to the phenotype being evaluated, domain-specific knowledge can be used to improve the phenotype and/or ensure that constraints are met. This is a commonly used method to improve EA performance in terms of runtime and solution quality. It is illustrated below by two of the three examples. == Examples == === Example of a direct representation === An obvious and commonly used encoding for the traveling salesman problem and related tasks is to number the cities to be visited consecutively and store them as integers in the chromosome. The genetic operators must be suitably adapted so that they only change the order of the cities (genes) and do not cause deletions or duplications. Thus, the gene order corresponds to the city order and there is a simple one-to-one mapping. === Example of a complex genotype-phenotype mapping === In a scheduling task with heterogeneous and partially alternative resources to be assigned to a set of subtasks, the genome must contain all necessary information for the individual scheduling operations or it must be possible to derive them from it. In addition to the order of the subtasks to be executed, this includes information about the resource selection. A phenotype then consists of a list of subtasks with their start times and assigned resources. In order to be able to create this, as many allocation matrices must be created as resources can be allocated to one subtask at most. In the simplest case this is one resource, e.g., one machine, which can perform the subtask. An allocation matrix is a two-dimensional matrix, with one dimension being the available time units and the other being the resources to be allocated. Empty matrix cells indicate availability, while an entry indicates the number of the assigned subtask. The creation of allocation matrices ensures firstly that there are no inadmissible multiple allocations. Secondly, the start times of the subtasks can be read from it as well as the assigned resources. A common constraint when scheduling resources to subtasks is that a resource can only be allocated once per time unit and that the reservation must be for a contiguous period of time. To achieve this in a timely manner, which is a c

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