Giovanni Iacca

Elia Cunegatti, Marcus Vukojevic, Erik Nielsen et al.

Post-training compression of Large Language Models (LLMs) removes entire architectural components, either deleting them or replacing them with fitted modules. Existing replacement-based methods share two design constraints: full-layer granularity and contiguous selection. We argue that this is overly restrictive: in fact, redundancy in pretrained transformers is not confined to contiguous regions, nor does it evenly distribute between Attention and FeedForward outputs, implying that different strategies best approximate different submodule types and that removable components need not cluster within contiguous depth ranges. Based on this intuition, we introduce SubFit (Submodule-level Fitted residual replacement), which compresses LLMs at the submodule level: Attention and FeedForward submodules are selected non-contiguously, and each receives its own lightweight fitted residual bypass. SubFit operates post-training and requires only calibration data. Across ten LLMs (five base, five instruction-tuned), five sparsity levels from 12.5% to 37.5%, and four replacement-based baselines, SubFit achieves the best aggregate perplexity-accuracy trade-off across the evaluated sparsity levels, with larger gains under aggressive compression. At 25% sparsity, it retains 84.6% of dense downstream accuracy and incurs 2.42x perplexity degradation, against 81.6% and 4.34x for the strongest baselines, while delivering measurable inference speedup and KV-cache savings. Code is available at https://github.com/eliacunegatti/SubFit.

Anil Yaman, Joel Z. Leibo, Giovanni Iacca et al.

Human ecological success relies on our characteristic ability to flexibly self-organize into cooperative social groups, the most successful of which employ substantial specialization and division of labor. Unlike most other animals, humans learn by trial and error during their lives what role to take on. However, when some critical roles are more attractive than others, and individuals are self-interested, then there is a social dilemma: each individual would prefer others take on the critical but unremunerative roles so they may remain free to take one that pays better. But disaster occurs if all act thusly and a critical role goes unfilled. In such situations learning an optimum role distribution may not be possible. Consequently, a fundamental question is: how can division of labor emerge in groups of self-interested lifetime-learning individuals? Here we show that by introducing a model of social norms, which we regard as emergent patterns of decentralized social sanctioning, it becomes possible for groups of self-interested individuals to learn a productive division of labor involving all critical roles. Such social norms work by redistributing rewards within the population to disincentivize antisocial roles while incentivizing prosocial roles that do not intrinsically pay as well as others.

Andrea Ferigo, Leonardo Lucio Custode, Giovanni Iacca

Addressing the need for explainable Machine Learning has emerged as one of the most important research directions in modern Artificial Intelligence (AI). While the current dominant paradigm in the field is based on black-box models, typically in the form of (deep) neural networks, these models lack direct interpretability for human users, i.e., their outcomes (and, even more so, their inner working) are opaque and hard to understand. This is hindering the adoption of AI in safety-critical applications, where high interests are at stake. In these applications, explainable by design models, such as decision trees, may be more suitable, as they provide interpretability. Recent works have proposed the hybridization of decision trees and Reinforcement Learning, to combine the advantages of the two approaches. So far, however, these works have focused on the optimization of those hybrid models. Here, we apply MAP-Elites for diversifying hybrid models over a feature space that captures both the model complexity and its behavioral variability. We apply our method on two well-known control problems from the OpenAI Gym library, on which we discuss the "illumination" patterns projected by MAP-Elites, comparing its results against existing similar approaches.

Michele Tessari, Giovanni Iacca

Parameter adaptation, that is the capability to automatically adjust an algorithm's hyperparameters depending on the problem being faced, is one of the main trends in evolutionary computation applied to numerical optimization. While several handcrafted adaptation policies have been proposed over the years to address this problem, only few attempts have been done so far at applying machine learning to learn such policies. Here, we introduce a general-purpose framework for performing parameter adaptation in continuous-domain metaheuristics based on state-of-the-art reinforcement learning algorithms. We demonstrate the applicability of this framework on two algorithms, namely Covariance Matrix Adaptation Evolution Strategies (CMA-ES) and Differential Evolution (DE), for which we learn, respectively, adaptation policies for the step-size (for CMA-ES), and the scale factor and crossover rate (for DE). We train these policies on a set of 46 benchmark functions at different dimensionalities, with various inputs to the policies, in two settings: one policy per function, and one global policy for all functions. Compared, respectively, to the Cumulative Step-size Adaptation (CSA) policy and to two well-known adaptive DE variants (iDE and jDE), our policies are able to produce competitive results in the majority of cases, especially in the case of DE.

Leonardo Lucio Custode, Giovanni Iacca

Since the first wave of the COVID-19 pandemic, governments have applied restrictions in order to slow down its spreading. However, creating such policies is hard, especially because the government needs to trade-off the spreading of the pandemic with the economic losses. For this reason, several works have applied machine learning techniques, often with the help of special-purpose simulators, to generate policies that were more effective than the ones obtained by governments. While the performance of such approaches are promising, they suffer from a fundamental issue: since such approaches are based on black-box machine learning, their real-world applicability is limited, because these policies cannot be analyzed, nor tested, and thus they are not trustable. In this work, we employ a recently developed hybrid approach, which combines reinforcement learning with evolutionary computation, for the generation of interpretable policies for containing the pandemic. These policies, trained on an existing simulator, aim to reduce the spreading of the pandemic while minimizing the economic losses. Our results show that our approach is able to find solutions that are extremely simple, yet very powerful. In fact, our approach has significantly better performance (in simulated scenarios) than both previous work and government policies.

Elia Cunegatti, Giovanni Iacca, Doina Bucur

Finding the most influential nodes in a network is a computationally hard problem with several possible applications in various kinds of network-based problems. While several methods have been proposed for tackling the influence maximisation (IM) problem, their runtime typically scales poorly when the network size increases. Here, we propose an original method, based on network downscaling, that allows a multi-objective evolutionary algorithm (MOEA) to solve the IM problem on a reduced scale network, while preserving the relevant properties of the original network. The downscaled solution is then upscaled to the original network, using a mechanism based on centrality metrics such as PageRank. Our results on eight large networks (including two with $\sim$50k nodes) demonstrate the effectiveness of the proposed method with a more than 10-fold runtime gain compared to the time needed on the original network, and an up to $82\%$ time reduction compared to CELF.

Laura Ferrarotti, Gian Maria Campedelli, Roberto Dessì et al.

In this article, we argue that understanding the collective behavior of agents based on large language models (LLMs) is an essential area of inquiry, with important implications in terms of risks and benefits, impacting us as a society at many levels. We claim that the distinctive nature of LLMs--namely, their initialization with extensive pre-trained knowledge and implicit social priors, together with their capability of adaptation through in-context learning--motivates the need for an interactionist paradigm consisting of alternative theoretical foundations, methodologies, and analytical tools, in order to systematically examine how prior knowledge and embedded values interact with social context to shape emergent phenomena in multi-agent generative AI systems. We propose and discuss four directions that we consider crucial for the development and deployment of LLM-based collectives, focusing on theory, methods, and trans-disciplinary dialogue.

Andrea Ferigo, Giovanni Iacca

During the first part of life, the brain develops while it learns through a process called synaptogenesis. The neurons, growing and interacting with each other, create synapses. However, eventually the brain prunes those synapses. While previous work focused on learning and pruning independently, in this work we propose a biologically plausible model that, thanks to a combination of Hebbian learning and pruning, aims to simulate the synaptogenesis process. In this way, while learning how to solve the task, the agent translates its experience into a particular network structure. Namely, the network structure builds itself during the execution of the task. We call this approach Self-building Neural Network (SBNN). We compare our proposed SBNN with traditional neural networks (NNs) over three classical control tasks from OpenAI. The results show that our model performs generally better than traditional NNs. Moreover, we observe that the performance decay while increasing the pruning rate is smaller in our model than with NNs. Finally, we perform a validation test, testing the models over tasks unseen during the learning phase. In this case, the results show that SBNNs can adapt to new tasks better than the traditional NNs, especially when over $80\%$ of the weights are pruned.

Matteo Farina, Massimiliano Mancini, Elia Cunegatti et al.

While excellent in transfer learning, Vision-Language models (VLMs) come with high computational costs due to their large number of parameters. To address this issue, removing parameters via model pruning is a viable solution. However, existing techniques for VLMs are task-specific, and thus require pruning the network from scratch for each new task of interest. In this work, we explore a new direction: Task-Agnostic Vision-Language Pruning (TA-VLP). Given a pretrained VLM, the goal is to find a unique pruned counterpart transferable to multiple unknown downstream tasks. In this challenging setting, the transferable representations already encoded in the pretrained model are a key aspect to preserve. Thus, we propose Multimodal Flow Pruning (MULTIFLOW), a first, gradient-free, pruning framework for TA-VLP where: (i) the importance of a parameter is expressed in terms of its magnitude and its information flow, by incorporating the saliency of the neurons it connects; and (ii) pruning is driven by the emergent (multimodal) distribution of the VLM parameters after pretraining. We benchmark eight state-of-the-art pruning algorithms in the context of TA-VLP, experimenting with two VLMs, three vision-language tasks, and three pruning ratios. Our experimental results show that MULTIFLOW outperforms recent sophisticated, combinatorial competitors in the vast majority of the cases, paving the way towards addressing TA-VLP. The code is publicly available at https://github.com/FarinaMatteo/multiflow.

Elia Cunegatti, Leonardo Lucio Custode, Giovanni Iacca

The Influence Maximization (IM) problem seeks to discover the set of nodes in a graph that can spread the information propagation at most. This problem is known to be NP-hard, and it is usually studied by maximizing the influence (spread) and, optionally, optimizing a second objective, such as minimizing the seed set size or maximizing the influence fairness. However, in many practical scenarios multiple aspects of the IM problem must be optimized at the same time. In this work, we propose a first case study where several IM-specific objective functions, namely budget, fairness, communities, and time, are optimized on top of the maximization of influence and minimization of the seed set size. To this aim, we introduce MOEIM (Many-Objective Evolutionary Algorithm for Influence Maximization) a Multi-Objective Evolutionary Algorithm (MOEA) based on NSGA-II incorporating graph-aware operators and a smart initialization. We compare MOEIM in two experimental settings, including a total of nine graph datasets, two heuristic methods, a related MOEA, and a state-of-the-art Deep Learning approach. The experiments show that MOEIM overall outperforms the competitors in most of the tested many-objective settings. To conclude, we also investigate the correlation between the objectives, leading to novel insights into the topic. The codebase is available at https://github.com/eliacunegatti/MOEIM.

Fabrizio Sandri, Elia Cunegatti, Giovanni Iacca

We propose a novel Two-Stage framework for Structured Pruning (\textsc{2SSP}) for pruning Large Language Models (LLMs), which combines two different strategies of pruning, namely Width and Depth Pruning. The first stage (Width Pruning) removes entire neurons, hence their corresponding rows and columns, aiming to preserve the connectivity among the pruned structures in the intermediate state of the Feed-Forward Networks in each Transformer block. This is done based on an importance score measuring the impact of each neuron on the output magnitude. The second stage (Depth Pruning), instead, removes entire Attention submodules. This is done by applying an iterative process that removes the Attention with the minimum impact on a given metric of interest (in our case, perplexity). We also propose a novel mechanism to balance the sparsity rate of the two stages w.r.t. to the desired global sparsity. We test \textsc{2SSP} on four LLM families and three sparsity rates (25\%, 37.5\%, and 50\%), measuring the resulting perplexity over three language modeling datasets as well as the performance over six downstream tasks. Our method consistently outperforms five state-of-the-art competitors over three language modeling and six downstream tasks, with an up to two-order-of-magnitude gain in terms of pruning time. The code is available at https://github.com/FabrizioSandri/2SSP.

Zinan Liu, Haoran Li, Jingyi Lu et al.

Autonomous AI is no longer a hard-to-reach concept, it enables the agents to move beyond executing tasks to independently addressing complex problems, adapting to change while handling the uncertainty of the environment. However, what makes the agents truly autonomous? It is agentic reasoning, that is crucial for foundation models to develop symbolic logic, statistical correlations, or large-scale pattern recognition to process information, draw inferences, and make decisions. However, it remains unclear why and how existing agentic reasoning approaches work, in comparison to biological reasoning, which instead is deeply rooted in neural mechanisms involving hierarchical cognition, multimodal integration, and dynamic interactions. In this work, we propose a novel neuroscience-inspired framework for agentic reasoning. Grounded in three neuroscience-based definitions and supported by mathematical and biological foundations, we propose a unified framework modeling reasoning from perception to action, encompassing four core types, perceptual, dimensional, logical, and interactive, inspired by distinct functional roles observed in the human brain. We apply this framework to systematically classify and analyze existing AI reasoning methods, evaluating their theoretical foundations, computational designs, and practical limitations. We also explore its implications for building more generalizable, cognitively aligned agents in physical and virtual environments. Finally, building on our framework, we outline future directions and propose new neural-inspired reasoning methods, analogous to chain-of-thought prompting. By bridging cognitive neuroscience and AI, this work offers a theoretical foundation and practical roadmap for advancing agentic reasoning in intelligent systems. The associated project can be found at: https://github.com/BioRAILab/Awesome-Neuroscience-Agent-Reasoning .

Elia Cunegatti, Leonardo Lucio Custode, Giovanni Iacca

Network pruning focuses on algorithms that aim to reduce a given model's computational cost by removing a subset of its parameters while having minimal impact on performance. Throughout the last decade, the most widely used pruning paradigm has been pruning and re-training, which nowadays is inconvenient due to the vast amount of pre-trained models, which are, in any case, too expensive to re-train. In this paper, we exploit functional information from dense pre-trained models, i.e., their input activations, to obtain sparse models that maximize the activations' alignment with respect to their corresponding dense models. Hence, we propose \textbf{NeuroAl}, a \emph{top-up} algorithm that can be used on top of any given pruning algorithm for LLMs, which modifies the block-wise and row-wise sparsity, exploiting information from both the dense model and its sparse version to maximize the \emph{neuron alignment} among activations. Different from existing methods, our approach adaptively selects the best hyperparameters for the block-wise and row-wise sparsity ratios w.r.t. the model and the desired sparsity, and requires \emph{no re-training}. We test our method over $\sim$300 test cases with four LLM families, three sparsity ratios, and ten language tasks (three language modeling and seven zero-shot datasets), showing how it consistently outperforms the latest state-of-the-art methods in terms of performance-runtime trade-off. The code is available at \href{https://github.com/eliacunegatti/NeuroAL}{https://github.com/eliacunegatti/NeuroAL}.

Francesco Pio Monaco, Elia Cunegatti, Flavio Vella et al.

Post-training model compression is essential for enhancing the portability of Large Language Models (LLMs) while preserving their performance. While several compression approaches have been proposed, less emphasis has been placed on selecting the most suitable set of data (the so-called \emph{calibration data}) for finding the compressed model configuration. The choice of calibration data is a critical step in preserving model capabilities both intra- and inter-tasks. In this work, we address the challenge of identifying high-performance calibration sets for both pruning and quantization by analyzing intrinsic data properties rather than model-specific signals. We introduce \texttt{\textbf{ZipCal}}, a model-agnostic data curation strategy that maximizes lexical diversity based on Zipfian power laws. Experiments demonstrate that our method consistently outperforms standard uniform random sampling across various pruning benchmarks. Notably, it also performs on par, in terms of downstream performance, with a state-of-the-art method that relies on model perplexity. The latter becomes prohibitively expensive at large-scale models and datasets, while \texttt{\textbf{ZipCal}} is on average $\sim$240$\times$ faster due to its tractable linear complexity\footnote{We make the code and the experiments available at https://anonymous.4open.science/r/zipcal-71CD/.}.

Elia Cunegatti, Matteo Farina, Doina Bucur et al.

Pruning-at-Initialization (PaI) algorithms provide Sparse Neural Networks (SNNs) which are computationally more efficient than their dense counterparts, and try to avoid performance degradation. While much emphasis has been directed towards \emph{how} to prune, we still do not know \emph{what topological metrics} of the SNNs characterize \emph{good performance}. From prior work, we have layer-wise topological metrics by which SNN performance can be predicted: the Ramanujan-based metrics. To exploit these metrics, proper ways to represent network layers via Graph Encodings (GEs) are needed, with Bipartite Graph Encodings (BGEs) being the \emph{de-facto} standard at the current stage. Nevertheless, existing BGEs neglect the impact of the inputs, and do not characterize the SNN in an end-to-end manner. Additionally, thanks to a thorough study of the Ramanujan-based metrics, we discover that they are only as good as the \emph{layer-wise density} as performance predictors, when paired with BGEs. To close both gaps, we design a comprehensive topological analysis for SNNs with both linear and convolutional layers, via (i) a new input-aware Multipartite Graph Encoding (MGE) for SNNs and (ii) the design of new end-to-end topological metrics over the MGE. With these novelties, we show the following: (a) The proposed MGE allows to extract topological metrics that are much better predictors of the accuracy drop than metrics computed from current input-agnostic BGEs; (b) Which metrics are important at different sparsity levels and for different architectures; (c) A mixture of our topological metrics can rank PaI algorithms more effectively than Ramanujan-based metrics. The codebase is publicly available at https://github.com/eliacunegatti/mge-snn.

Erik Nielsen, Elia Cunegatti, Marcus Vukojevic et al.

One of the most critical challenges in Large Language Models is their tendency to hallucinate, i.e., produce factually incorrect responses. Existing approaches show promising results in terms of hallucination correction, but still suffer from a main limitation: they apply corrections indiscriminately to every token, corrupting also the originally correct generations. To overcome this drawback, we propose PCNET, a Probabilistic Circuit trained as a tractable density estimator over the LLM residual stream. The method detects hallucinations as geometric anomalies on the factual manifold, which is done via exact Negative Log-Likelihood computation, hence without the need for sampling, external verifiers, or weight modifications, as in existing techniques. To demonstrate its effectiveness, we exploit PCNET as a dynamic gate that distinguishes hallucinated from factual hidden states at each decoding step. This triggers our second main contribution, PC-LDCD (Probabilistic Circuit Latent Density Contrastive Decoding), only when the latent geometry deviates from factual regions, while leaving correct generations untouched. Across four LLMs, ranging from 1B to 8B models, and four benchmarks covering conversational reasoning, knowledge-intensive QA, reading comprehension, and truthfulness, PCNET achieves near-perfect hallucination detection across CoQA, SQuAD v2.0, and TriviaQA, with AUROC reaching up to 99%. Moreover, PC-LDCD obtains the highest True+Info, MC2, and MC3 scores on TruthfulQA in three out of four models, in comparison with state-of-the-art baselines, while reducing the mean corruption rate to 53.7% and achieving a preservation rate of 79.3%. Our proposed method is publicly available on GitHub.

Matteo Farina, Massimiliano Mancini, Giovanni Iacca et al.

An old-school recipe for training a classifier is to (i) learn a good feature extractor and (ii) optimize a linear layer atop. When only a handful of samples are available per category, as in Few-Shot Adaptation (FSA), data are insufficient to fit a large number of parameters, rendering the above impractical. This is especially true with large pre-trained Vision-Language Models (VLMs), which motivated successful research at the intersection of Parameter-Efficient Fine-tuning (PEFT) and FSA. In this work, we start by analyzing the learning dynamics of PEFT techniques when trained on few-shot data from only a subset of categories, referred to as the ``base'' classes. We show that such dynamics naturally splits into two distinct phases: (i) task-level feature extraction and (ii) specialization to the available concepts. To accommodate this dynamic, we then depart from prompt- or adapter-based methods and tackle FSA differently. Specifically, given a fixed computational budget, we split it to (i) learn a task-specific feature extractor via PEFT and (ii) train a linear classifier on top. We call this scheme Two-Stage Few-Shot Adaptation (2SFS). Differently from established methods, our scheme enables a novel form of selective inference at a category level, i.e., at test time, only novel categories are embedded by the adapted text encoder, while embeddings of base categories are available within the classifier. Results with fixed hyperparameters across two settings, three backbones, and eleven datasets, show that 2SFS matches or surpasses the state-of-the-art, while established methods degrade significantly across settings.

Jian Liu, Xiongtao Shi, Thai Duy Nguyen et al.

The rapid evolution of artificial intelligence (AI) has shifted from static, data-driven models to dynamic systems capable of perceiving and interacting with real-world environments. Despite advancements in pattern recognition and symbolic reasoning, current AI systems, such as large language models, remain disembodied, unable to physically engage with the world. This limitation has driven the rise of embodied AI, where autonomous agents, such as humanoid robots, must navigate and manipulate unstructured environments with human-like adaptability. At the core of this challenge lies the concept of Neural Brain, a central intelligence system designed to drive embodied agents with human-like adaptability. A Neural Brain must seamlessly integrate multimodal sensing and perception with cognitive capabilities. Achieving this also requires an adaptive memory system and energy-efficient hardware-software co-design, enabling real-time action in dynamic environments. This paper introduces a unified framework for the Neural Brain of embodied agents, addressing two fundamental challenges: (1) defining the core components of Neural Brain and (2) bridging the gap between static AI models and the dynamic adaptability required for real-world deployment. To this end, we propose a biologically inspired architecture that integrates multimodal active sensing, perception-cognition-action function, neuroplasticity-based memory storage and updating, and neuromorphic hardware/software optimization. Furthermore, we also review the latest research on embodied agents across these four aspects and analyze the gap between current AI systems and human intelligence. By synthesizing insights from neuroscience, we outline a roadmap towards the development of generalizable, autonomous agents capable of human-level intelligence in real-world scenarios.

Leonardo Lucio Custode, Giovanni Iacca

Reinforcement Learning (RL) bears the promise of being a game-changer in many applications. However, since most of the literature in the field is currently focused on opaque models, the use of RL in high-stakes scenarios, where interpretability is crucial, is still limited. Recently, some approaches to interpretable RL, e.g., based on Decision Trees, have been proposed, but one of the main limitations of these techniques is their training cost. To overcome this limitation, we propose a new method, called Social Interpretable RL (SIRL), that can substantially reduce the number of episodes needed for training. Our method mimics a social learning process, where each agent in a group learns to solve a given task based both on its own individual experience as well as the experience acquired together with its peers. Our approach is divided into the following two phases. (1) In the collaborative phase, all the agents in the population interact with a shared instance of the environment, where each agent observes the state and independently proposes an action. Then, voting is performed to choose the action that will actually be deployed in the environment. (2) In the individual phase, then, each agent refines its individual performance by interacting with its own instance of the environment. This mechanism makes the agents experience a larger number of episodes with little impact on the computational cost of the process. Our results (on 6 widely-known RL benchmarks) show that SIRL not only reduces the computational cost by a factor varying from a minimum of 43% to a maximum 76%, but it also increases the convergence speed and, often, improves the quality of the solutions.

Mátyás Vincze, Laura Ferrarotti, Leonardo Lucio Custode et al.

Continuous control tasks often involve high-dimensional, dynamic, and non-linear environments. State-of-the-art performance in these tasks is achieved through complex closed-box policies that are effective, but suffer from an inherent opacity. Interpretable policies, while generally underperforming compared to their closed-box counterparts, advantageously facilitate transparent decision-making within automated systems. Hence, their usage is often essential for diagnosing and mitigating errors, supporting ethical and legal accountability, and fostering trust among stakeholders. In this paper, we propose SMOSE, a novel method to train sparsely activated interpretable controllers, based on a top-1 Mixture-of-Experts architecture. SMOSE combines a set of interpretable decisionmakers, trained to be experts in different basic skills, and an interpretable router that assigns tasks among the experts. The training is carried out via state-of-the-art Reinforcement Learning algorithms, exploiting load-balancing techniques to ensure fair expert usage. We then distill decision trees from the weights of the router, significantly improving the ease of interpretation. We evaluate SMOSE on six benchmark environments from MuJoCo: our method outperforms recent interpretable baselines and narrows the gap with noninterpretable state-of-the-art algorithms

Andrea Ferigo, Elia Cunegatti, Giovanni Iacca

One of the most striking capabilities behind the learning mechanisms of the brain is the adaptation, through structural and functional plasticity, of its synapses. While synapses have the fundamental role of transmitting information across the brain, several studies show that it is the neuron activations that produce changes on synapses. Yet, most plasticity models devised for artificial Neural Networks (NNs), e.g., the ABCD rule, focus on synapses, rather than neurons, therefore optimizing synaptic-specific Hebbian parameters. This approach, however, increases the complexity of the optimization process since each synapse is associated to multiple Hebbian parameters. To overcome this limitation, we propose a novel plasticity model, called Neuron-centric Hebbian Learning (NcHL), where optimization focuses on neuron- rather than synaptic-specific Hebbian parameters. Compared to the ABCD rule, NcHL reduces the parameters from $5W$ to $5N$, being $W$ and $N$ the number of weights and neurons, and usually $N \ll W$. We also devise a ``weightless'' NcHL model, which requires less memory by approximating the weights based on a record of neuron activations. Our experiments on two robotic locomotion tasks reveal that NcHL performs comparably to the ABCD rule, despite using up to $\sim97$ times less parameters, thus allowing for scalable plasticity

Andrea De Antoni, Matteo Rucco, Alberto Maria Cattaneo et al.

In a context of growing agricultural demand and new challenges related to food security and accessibility, boosting agricultural productivity is more important than ever. Reducing the damage caused by invasive insect species is a crucial lever to achieve this objective. In support of these challenges, and in line with the principles of precision agriculture and Integrated Pest Management (IPM), an innovative simulation framework is presented, aiming to become the digital twin of a pest invasion. Through a flexible rule-based approach of the Agent-Based Modeling (ABM) paradigm, the framework supports the fine-tuning of the main ecological interactions of the pest with its crop host and the environment. Forecasting insect infestation in realistic scenarios, considering both spatial and temporal dimensions, is made possible by integrating heterogeneous data sources: pest biodata collected in the laboratory, environmental data from weather stations, and GIS data of a real crop field. In this study, an application to the global pest of soft fruit, the invasive fruit fly Drosophila suzukii, also known as Spotted Wing Drosophila (SWD), is presented.

Ryan Zhou, Jaume Bacardit, Alexander Brownlee et al.

Artificial intelligence methods are being increasingly applied across various domains, but their often opaque nature has raised concerns about accountability and trust. In response, the field of explainable AI (XAI) has emerged to address the need for human-understandable AI systems. Evolutionary computation (EC), a family of powerful optimization and learning algorithms, offers significant potential to contribute to XAI, and vice versa. This paper provides an introduction to XAI and reviews current techniques for explaining machine learning models. We then explore how EC can be leveraged in XAI and examine existing XAI approaches that incorporate EC techniques. Furthermore, we discuss the application of XAI principles within EC itself, investigating how these principles can illuminate the behavior and outcomes of EC algorithms, their (automatic) configuration, and the underlying problem landscapes they optimize. Finally, we discuss open challenges in XAI and highlight opportunities for future research at the intersection of XAI and EC. Our goal is to demonstrate EC's suitability for addressing current explainability challenges and to encourage further exploration of these methods, ultimately contributing to the development of more understandable and trustworthy ML models and EC algorithms.

Leonardo Lucio Custode, Giovanni Iacca

The importance of explainability in AI has become a pressing concern, for which several explainable AI (XAI) approaches have been recently proposed. However, most of the available XAI techniques are post-hoc methods, which however may be only partially reliable, as they do not reflect exactly the state of the original models. Thus, a more direct way for achieving XAI is through interpretable (also called glass-box) models. These models have been shown to obtain comparable (and, in some cases, better) performance with respect to black-boxes models in various tasks such as classification and reinforcement learning. However, they struggle when working with raw data, especially when the input dimensionality increases and the raw inputs alone do not give valuable insights on the decision-making process. Here, we propose to use end-to-end pipelines composed of multiple interpretable models co-optimized by means of evolutionary algorithms, that allows us to decompose the decision-making process into two parts: computing high-level features from raw data, and reasoning on the extracted high-level features. We test our approach in reinforcement learning environments from the Atari benchmark, where we obtain comparable results (with respect to black-box approaches) in settings without stochastic frame-skipping, while performance degrades in frame-skipping settings.

Hao Qiu, Leonardo Lucio Custode, Giovanni Iacca

In the last decade, deep neural networks have proven to be very powerful in computer vision tasks, starting a revolution in the computer vision and machine learning fields. However, deep neural networks, usually, are not robust to perturbations of the input data. In fact, several studies showed that slightly changing the content of the images can cause a dramatic decrease in the accuracy of the attacked neural network. Several methods able to generate adversarial samples make use of gradients, which usually are not available to an attacker in real-world scenarios. As opposed to this class of attacks, another class of adversarial attacks, called black-box adversarial attacks, emerged, which does not make use of information on the gradients, being more suitable for real-world attack scenarios. In this work, we compare three well-known evolution strategies on the generation of black-box adversarial attacks for image classification tasks. While our results show that the attacked neural networks can be, in most cases, easily fooled by all the algorithms under comparison, they also show that some black-box optimization algorithms may be better in "harder" setups, both in terms of attack success rate and efficiency (i.e., number of queries).

Kateryna Konotopska, Giovanni Iacca

Social networks represent nowadays in many contexts the main source of information transmission and the way opinions and actions are influenced. For instance, generic advertisements are way less powerful than suggestions from our contacts. However, this process hugely depends on the influence of people who disseminate these suggestions. Therefore modern marketing often involves paying some targeted users, or influencers, for advertising products or ideas. Finding the set of nodes in a social network that lead to the highest information spread -- the so-called Influence Maximization (IM) problem -- is therefore a pressing question and as such it has recently attracted a great research interest. In particular, several approaches based on Evolutionary Algorithms (EAs) have been proposed, although they are known to scale poorly with the graph size. In this paper, we tackle this limitation in two ways. Firstly, we use approximate fitness functions to speed up the EA. Secondly, we include into the EA various graph-aware mechanisms, such as smart initialization, custom mutations and node filtering, to facilitate the EA convergence. Our experiments show that the proposed modifications allow to obtain a relevant runtime gain and also improve, in some cases, the spread results.

Enrico Zardini, Davide Zappetti, Davide Zambrano et al.

Designing optimal soft modular robots is difficult, due to non-trivial interactions between morphology and controller. Evolutionary algorithms (EAs), combined with physical simulators, represent a valid tool to overcome this issue. In this work, we investigate algorithmic solutions to improve the Quality Diversity of co-evolved designs of Tensegrity Soft Modular Robots (TSMRs) for two robotic tasks, namely goal reaching and squeezing trough a narrow passage. To this aim, we use three different EAs, i.e., MAP-Elites and two custom algorithms: one based on Viability Evolution (ViE) and NEAT (ViE-NEAT), the other named Double Map MAP-Elites (DM-ME) and devised to seek diversity while co-evolving robot morphologies and neural network (NN)-based controllers. In detail, DM-ME extends MAP-Elites in that it uses two distinct feature maps, referring to morphologies and controllers respectively, and integrates a mechanism to automatically define the NN-related feature descriptor. Considering the fitness, in the goal-reaching task ViE-NEAT outperforms MAP-Elites and results equivalent to DM-ME. Instead, when considering diversity in terms of "illumination" of the feature space, DM-ME outperforms the other two algorithms on both tasks, providing a richer pool of possible robotic designs, whereas ViE-NEAT shows comparable performance to MAP-Elites on goal reaching, although it does not exploit any map.

Ahmed Hallawa, Anil Yaman, Giovanni Iacca et al.

One of the main reasons for the success of Evolutionary Algorithms (EAs) is their general-purposeness, i.e., the fact that they can be applied straightforwardly to a broad range of optimization problems, without any specific prior knowledge. On the other hand, it has been shown that incorporating a priori knowledge, such as expert knowledge or empirical findings, can significantly improve the performance of an EA. However, integrating knowledge in EAs poses numerous challenges. It is often the case that the features of the search space are unknown, hence any knowledge associated with the search space properties can be hardly used. In addition, a priori knowledge is typically problem-specific and hard to generalize. In this paper, we propose a framework, called Knowledge Integrated Evolutionary Algorithm (KIEA), which facilitates the integration of existing knowledge into EAs. Notably, the KIEA framework is EA-agnostic (i.e., it works with any evolutionary algorithm), problem-independent (i.e., it is not dedicated to a specific type of problems), expandable (i.e., its knowledge base can grow over time). Furthermore, the framework integrates knowledge while the EA is running, thus optimizing the use of the needed computational power. In the preliminary experiments shown here, we observe that the KIEA framework produces in the worst case an 80% improvement on the converge time, w.r.t. the corresponding "knowledge-free" EA counterpart.

Quintino Francesco Lotito, Leonardo Lucio Custode, Giovanni Iacca

The evolution of symbolic communication is a longstanding open research question in biology. While some theories suggest that it originated from sub-symbolic communication (i.e., iconic or indexical), little experimental evidence exists on how organisms can actually evolve to define a shared set of symbols with unique interpretable meaning, thus being capable of encoding and decoding discrete information. Here, we use a simple synthetic model composed of sender and receiver agents controlled by Continuous-Time Recurrent Neural Networks, which are optimized by means of neuro-evolution. We characterize signal decoding as either regression or classification, with limited and unlimited signal amplitude. First, we show how this choice affects the complexity of the evolutionary search, and leads to different levels of generalization. We then assess the effect of noise, and test the evolved signaling system in a referential game. In various settings, we observe agents evolving to share a dictionary of symbols, with each symbol spontaneously associated to a 1-D unique signal. Finally, we analyze the constellation of signals associated to the evolved signaling systems and note that in most cases these resemble a Pulse Amplitude Modulation system.

Michela Lorandi, Leonardo Lucio Custode, Giovanni Iacca

Routing plays a fundamental role in network applications, but it is especially challenging in Delay Tolerant Networks (DTNs). These are a kind of mobile ad hoc networks made of e.g. (possibly, unmanned) vehicles and humans where, despite a lack of continuous connectivity, data must be transmitted while the network conditions change due to the nodes' mobility. In these contexts, routing is NP-hard and is usually solved by heuristic "store and forward" replication-based approaches, where multiple copies of the same message are moved and stored across nodes in the hope that at least one will reach its destination. Still, the existing routing protocols produce relatively low delivery probabilities. Here, we genetically improve two routing protocols widely adopted in DTNs, namely Epidemic and PRoPHET, in the attempt to optimize their delivery probability. First, we dissect them into their fundamental components, i.e., functionalities such as checking if a node can transfer data, or sending messages to all connections. Then, we apply Genetic Improvement (GI) to manipulate these components as terminal nodes of evolving trees. We apply this methodology, in silico, to six test cases of urban networks made of hundreds of nodes, and find that GI produces consistent gains in delivery probability in four cases. We then verify if this improvement entails a worsening of other relevant network metrics, such as latency and buffer time. Finally, we compare the logics of the best evolved protocols with those of the baseline protocols, and we discuss the generalizability of the results across test cases.

Leonardo Lucio Custode, Giovanni Iacca

Reinforcement learning techniques achieved human-level performance in several tasks in the last decade. However, in recent years, the need for interpretability emerged: we want to be able to understand how a system works and the reasons behind its decisions. Not only we need interpretability to assess the safety of the produced systems, we also need it to extract knowledge about unknown problems. While some techniques that optimize decision trees for reinforcement learning do exist, they usually employ greedy algorithms or they do not exploit the rewards given by the environment. This means that these techniques may easily get stuck in local optima. In this work, we propose a novel approach to interpretable reinforcement learning that uses decision trees. We present a two-level optimization scheme that combines the advantages of evolutionary algorithms with the advantages of Q-learning. This way we decompose the problem into two sub-problems: the problem of finding a meaningful and useful decomposition of the state space, and the problem of associating an action to each state. We test the proposed method on three well-known reinforcement learning benchmarks, on which it results competitive with respect to the state-of-the-art in both performance and interpretability. Finally, we perform an ablation study that confirms that using the two-level optimization scheme gives a boost in performance in non-trivial environments with respect to a one-layer optimization technique.

Ahmed Hallawa, Thorsten Born, Anke Schmeink et al.

In this work, we propose a novel approach for reinforcement learning driven by evolutionary computation. Our algorithm, dubbed as Evolutionary-Driven Reinforcement Learning (evo-RL), embeds the reinforcement learning algorithm in an evolutionary cycle, where we distinctly differentiate between purely evolvable (instinctive) behaviour versus purely learnable behaviour. Furthermore, we propose that this distinction is decided by the evolutionary process, thus allowing evo-RL to be adaptive to different environments. In addition, evo-RL facilitates learning on environments with rewardless states, which makes it more suited for real-world problems with incomplete information. To show that evo-RL leads to state-of-the-art performance, we present the performance of different state-of-the-art reinforcement learning algorithms when operating within evo-RL and compare it with the case when these same algorithms are executed independently. Results show that reinforcement learning algorithms embedded within our evo-RL approach significantly outperform the stand-alone versions of the same RL algorithms on OpenAI Gym control problems with rewardless states constrained by the same computational budget.

Anil Yaman, Giovanni Iacca

In several network problems the optimum behavior of the agents (i.e., the nodes of the network) is not known before deployment. Furthermore, the agents might be required to adapt, i.e. change their behavior based on the environment conditions. In these scenarios, offline optimization is usually costly and inefficient, while online methods might be more suitable. In this work, we use a distributed Embodied Evolution approach to optimize spatially distributed, locally interacting agents by allowing them to exchange their behavior parameters and learn from each other to adapt to a certain task within a given environment. Our results on several test scenarios show that the local exchange of information, performed by means of crossover of behavior parameters with neighbors, allows the network to conduct the optimization process more efficiently than the cases where local interactions are not allowed, even when there are large differences on the optimal behavior parameters within each agent's neighborhood.

Anil Yaman, Giovanni Iacca, Decebal Constantin Mocanu et al.

A learning process with the plasticity property often requires reinforcement signals to guide the process. However, in some tasks (e.g. maze-navigation), it is very difficult (or impossible) to measure the performance of an agent (i.e. a fitness value) to provide reinforcements since the position of the goal is not known. This requires finding the correct behavior among a vast number of possible behaviors without having the knowledge of the reinforcement signals. In these cases, an exhaustive search may be needed. However, this might not be feasible especially when optimizing artificial neural networks in continuous domains. In this work, we introduce novelty producing synaptic plasticity (NPSP), where we evolve synaptic plasticity rules to produce as many novel behaviors as possible to find the behavior that can solve the problem. We evaluate the NPSP on maze-navigation on deceptive maze environments that require complex actions and the achievement of subgoals to complete. Our results show that the search heuristic used with the proposed NPSP is indeed capable of producing much more novel behaviors in comparison with a random search taken as baseline.

Cristiano Saltori, Subhankar Roy, Nicu Sebe et al.

Designing neural networks for object recognition requires considerable architecture engineering. As a remedy, neuro-evolutionary network architecture search, which automatically searches for optimal network architectures using evolutionary algorithms, has recently become very popular. Although very effective, evolutionary algorithms rely heavily on having a large population of individuals (i.e., network architectures) and is therefore memory expensive. In this work, we propose a Regularized Evolutionary Algorithm with low memory footprint to evolve a dynamic image classifier. In details, we introduce novel custom operators that regularize the evolutionary process of a micro-population of 10 individuals. We conduct experiments on three different digits datasets (MNIST, USPS, SVHN) and show that our evolutionary method obtains competitive results with the current state-of-the-art.

Anil Yaman, Giovanni Iacca, Decebal Constantin Mocanu et al.

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.

Anil Yaman, Giovanni Iacca, Decebal Constantin Mocanu et al.

The plasticity property of biological neural networks allows them to perform learning and optimize their behavior by changing their configuration. Inspired by biology, plasticity can be modeled in artificial neural networks by using Hebbian learning rules, i.e. rules that update synapses based on the neuron activations and reinforcement signals. However, the distal reward problem arises when the reinforcement signals are not available immediately after each network output to associate the neuron activations that contributed to receiving the reinforcement signal. In this work, we extend Hebbian plasticity rules to allow learning in distal reward cases. We propose the use of neuron activation traces (NATs) to provide additional data storage in each synapse to keep track of the activation of the neurons. Delayed reinforcement signals are provided after each episode relative to the networks' performance during the previous episode. We employ genetic algorithms to evolve delayed synaptic plasticity (DSP) rules and perform synaptic updates based on NATs and delayed reinforcement signals. We compare DSP with an analogous hill climbing algorithm that does not incorporate domain knowledge introduced with the NATs, and show that the synaptic updates performed by the DSP rules demonstrate more effective training performance relative to the HC algorithm.

Stefano Fioravanzo, Giovanni Iacca

Constrained optimization problems are often characterized by multiple constraints that, in the practice, must be satisfied with different tolerance levels. While some constraints are hard and as such must be satisfied with zero-tolerance, others may be soft, such that non-zero violations are acceptable. Here, we evaluate the applicability of MAP-Elites to "illuminate" constrained search spaces by mapping them into feature spaces where each feature corresponds to a different constraint. On the one hand, MAP-Elites implicitly preserves diversity, thus allowing a good exploration of the search space. On the other hand, it provides an effective visualization that facilitates a better understanding of how constraint violations correlate with the objective function. We demonstrate the feasibility of this approach on a large set of benchmark problems, in various dimensionalities, and with different algorithmic configurations. As expected, numerical results show that a basic version of MAP-Elites cannot compete on all problems (especially those with equality constraints) with state-of-the-art algorithms that use gradient information or advanced constraint handling techniques. Nevertheless, it has a higher potential at finding constraint violations vs. objectives trade-offs and providing new problem information. As such, it could be used in the future as an effective building-block for designing new constrained optimization algorithms.

Giovanni Iacca, Fabio Caraffini, Ferrante Neri

We propose Multi-Strategy Coevolving Aging Particles (MS-CAP), a novel population-based algorithm for black-box optimization. In a memetic fashion, MS-CAP combines two components with complementary algorithm logics. In the first stage, each particle is perturbed independently along each dimension with a progressively shrinking (decaying) radius, and attracted towards the current best solution with an increasing force. In the second phase, the particles are mutated and recombined according to a multi-strategy approach in the fashion of the ensemble of mutation strategies in Differential Evolution. The proposed algorithm is tested, at different dimensionalities, on two complete black-box optimization benchmarks proposed at the Congress on Evolutionary Computation 2010 and 2013. To demonstrate the applicability of the approach, we also test MS-CAP to train a Feedforward Neural Network modelling the kinematics of an 8-link robot manipulator. The numerical results show that MS-CAP, for the setting considered in this study, tends to outperform the state-of-the-art optimization algorithms on a large set of problems, thus resulting in a robust and versatile optimizer.

Giovanni Iacca

Wireless Sensor Networks (WSNs) is an emerging technology in several application domains, ranging from urban surveillance to environmental and structural monitoring. Computational Intelligence (CI) techniques are particularly suitable for enhancing these systems. However, when embedding CI into wireless sensors, severe hardware limitations must be taken into account. In this paper we investigate the possibility to perform an online, distributed optimization process within a WSN. Such a system might be used, for example, to implement advanced network features like distributed modelling, self-optimizing protocols, and anomaly detection, to name a few. The proposed approach, called DOWSN (Distributed Optimization for WSN) is an island-model infrastructure in which each node executes a simple, computationally cheap (both in terms of CPU and memory) optimization algorithm, and shares promising solutions with its neighbors. We perform extensive tests of different DOWSN configurations on a benchmark made up of continuous optimization problems; we analyze the influence of the network parameters (number of nodes, inter-node communication period and probability of accepting incoming solutions) on the optimization performance. Finally, we profile energy and memory consumption of DOWSN to show the efficient usage of the limited hardware resources available on the sensor nodes.

Giovanni Iacca, Fabio Caraffini

Compact optimization algorithms are a class of Estimation of Distribution Algorithms (EDAs) characterized by extremely limited memory requirements (hence they are called "compact"). As all EDAs, compact algorithms build and update a probabilistic model of the distribution of solutions within the search space, as opposed to population-based algorithms that instead make use of an explicit population of solutions. In addition to that, to keep their memory consumption low, compact algorithms purposely employ simple probabilistic models that can be described with a small number of parameters. Despite their simplicity, compact algorithms have shown good performances on a broad range of benchmark functions and real-world problems. However, compact algorithms also come with some drawbacks, i.e. they tend to premature convergence and show poorer performance on non-separable problems. To overcome these limitations, here we investigate a possible algorithmic scheme obtained by combining compact algorithms with a non-disruptive restart mechanism taken from the literature, named Re-Sampled Inheritance (RI). The resulting compact algorithms with RI are tested on the CEC 2014 benchmark functions. The numerical results show on the one hand that the use of RI consistently enhances the performances of compact algorithms, still keeping a limited usage of memory. On the other hand, our experiments show that among the tested algorithms, the best performance is obtained by compact Differential Evolution with RI.

Anil Yaman, Decebal Constantin Mocanu, Giovanni Iacca et al.

Many real-world control and classification tasks involve a large number of features. When artificial neural networks (ANNs) are used for modeling these tasks, the network architectures tend to be large. Neuroevolution is an effective approach for optimizing ANNs; however, there are two bottlenecks that make their application challenging in case of high-dimensional networks using direct encoding. First, classic evolutionary algorithms tend not to scale well for searching large parameter spaces; second, the network evaluation over a large number of training instances is in general time-consuming. In this work, we propose an approach called the Limited Evaluation Cooperative Co-evolutionary Differential Evolution algorithm (LECCDE) to optimize high-dimensional ANNs. The proposed method aims to optimize the pre-synaptic weights of each post-synaptic neuron in different subpopulations using a Cooperative Co-evolutionary Differential Evolution algorithm, and employs a limited evaluation scheme where fitness evaluation is performed on a relatively small number of training instances based on fitness inheritance. We test LECCDE on three datasets with various sizes, and our results show that cooperative co-evolution significantly improves the test error comparing to standard Differential Evolution, while the limited evaluation scheme facilitates a significant reduction in computing time.