Can anyone all the different techniques used in face detection? Techniques like neural networks, support vector machines, eigenfaces, etc.
What others are there?
the technique I'm going to talk about is more a machine learning oriented approach; in my opinion is quite fascinating, though not very recent: it was described in the article "Robust Real-Time Face Detection" by Viola and Jones. I used the OpenCV implementation for an university project.
It is based on haar-like features, which consists in additions and subtractions of pixel intensities within rectangular regions of the image. This can be done very fast using a procedure called integral image, for which also GPGPU implementations exist (sometimes are called "prefix scan"). After computing integral image in linear time, any haar-like feature can be evaluated in constant time. A feature is basically a function that takes a 24x24 sub-window of the image S and computes a value feature(S); a triplet (feature, threshold, polarity) is called a weak classifier, because
polarity * feature(S) < polarity * threshold
holds true on certain images and false on others; a weak classifier is expected to perform just a little better than random guess (for instance, it should have an accuracy of at least 51-52%).
Polarity is either -1 or +1.
Feature space is big (~160'000 features), but finite.
Despite threshold could in principle be any number, from simple considerations on the training set it turns out that if there are N examples, only N + 1 threshold for each polarity and for each feature have to be examined in order to find the one that holds the best accuracy. The best weak classifier can thus be found by exhaustively searching the triplets space.
Basically, a strong classifier can be assembled by iteratively choosing the best possible weak classifier, using an algorithm called "adaptive boosting", or AdaBoost; at each iteration, examples which were misclassified in the previous iteration are weighed more. The strong classifier is characterized by its own global threshold, computed by AdaBoost.
Several strong classifiers are combined as stages in an attentional cascade; the idea behind the attentional cascade is that 24x24 sub-windows that are obviously not faces are discarded in the first stages; a strong classifier usually contains only a few weak classifiers (like 30 or 40), hence is very fast to compute. Each stage should have a very high recall, while false positive rate is not very important. if there are 10 stages each with 0.99 recall and 0.3 false positive rate, the final cascade will have 0.9 recall and extremely low false positive rate. For this reason, strong classifier are usually tuned in order to increase recall and false positive rate. Tuning basically involves reducing the global threshold computed by AdaBoost.
A sub-window that makes it way to the end of the cascade is considered a face.
Several sub-window in the initial image, eventually overlapping, eventually after rescaling the image, must be tested.
An emerging but rather effective approach to the broad class of vision problems, including face detection, is the use of Hierarchical Temporal Memory (HTM), a concept/technology developed by Numenta.
Very loosely speaking, this is a neuralnetwork-like approach. This type of network has a tree shape where the number of nodes decreases significantly at each level. HTM models some of the structural and algorithmic properties of the neocortex. In [possible] departure with the neocortex the classification algorithm implemented at the level of each node uses a Bayesian algorithm. HTM model is based on the memory-prediction theory of brain function and relies heavily on the the temporal nature of inputs; this may explain its ability to deal with vision problem, as these are typically temporal (or can be made so) and also require tolerance for noise and "fuzziness".
While Numemta has produced vision kits and demo applications for some time, Vitamin D recently produced -I think- the first commercial application of HTM technology at least in the domain of vision applications.
If you need it not just as theoretical stuff but you really want to do face detection then I recommend you to find already implemented solutions.
There are plenty tested libraries for different languages and they are widely used for this purpose. Look at this SO thread for more information: Face recognition library.
Related
I am implementing a functional face detection algorithm in C using Viola and Jones algorithm. I'm having trouble understanding Adaboost to train a strong classifier.
I can detect all 5 basic haar-features in a single image (162336 in a 24x24 image) I'm pretty sure this is good and working, and my algorithm outputs and array containing all the features sorted.
Then, I started working on Adaboost and here's what I understand. We create a weak classifier (slightly better than random) and we make a linear combination of many weak classifier (approx 200) to get a strong classifier.
What I don't understand is how to create this weak classifier. From what I read online:
Normalize the weights of our training examples (first round 1 by default)
Then get a feature (here's one of my problem, do I have to process each feature of each training example ? (162336 * number of examples) that would be a lot of computing power no ? )
"Apply" this feature to each image to get an optimal treshold and toggle (here's my main problem, I don't understand what "apply" means here, compare it with each feature of the image ? I really don't see what I have to do with it. Then, I don't understand what is the treshold and the toggle and that's where i'm looking for help)
Then many more other things to do
I'm really looking forward your help to make me understand this!
Should have answered my own question faster, but I've forgot about it. It was a project for my computer science school so I can provide answers.
Adaboost is in fact fairly simple when you understand it.
First you need to detect features inside every images in your base (we used 4000 images to have a large set) you can store them if you have enough memory or process them when you need them in you program. For 4000 images with 5 haar features inside we used more than 16Gb of RAM (Code was written in c, but no memory leak, it was arrays of double)
The training algorithm assign a weight to an image. That weight represent the difficulty for the algorithm to make a good prediction (face or no face).
Your training algorithm will be composed of rounds (200 rounds is fine to have 90%+ of good prediction).
At the first round every image possess the same weight because the algorithm never worked on them.
Here is how a round goes:
Find the best haar feature among X (for each type) in each image. To do this, compare each feature to the same one (same type, dimension and position) on every image and see if it is a good or bad prediction. The feature with the best prediction inside the X features is the best one, keep it stored.You will find 5 best features per images because there is 5 type combine them in a single struct and it is your weak classifier
Calculate the weighted error of the classifier. The weighted error is the error of the weak classifier applied to each image while taking in account the weight assigned to each image. In later rounds, the image with a bigger weight (the algorithm made lot of mistakes about this image) will be taken much more into account.
Add the weak classifier to a strong classifier (which is an array of weak classifiers) and its alpha. The alpha is the performance of the weak classifier and is determined with the weighted error. With the alpha, weak classifier which were made at later stage of the algorithm when the training is harder will have more weight in the final prediction of the strong classifier.
Update the weight of each image according to the prediction of the weak classifier you just created. If the classifier is right the weight goes down otherwise it goes up.
At the end of the 200 rounds of training, you will possess a strong classifier composed of 200 weak classifier. To make a prediction about a single image, apply each weak classifier to the image and the majority wins.
I voluntarily simplified the explanation but the majority is here. For more informations look here, it really helped me during my project: http://www.ipol.im/pub/art/2014/104/article.pdf
I suggest every person interested in AI and optimisation to work on a project like that. As a student it made me really interested in AI and made me think a lot about optimisation, which I never did before.
What is difference between SVM and Neural Network?
Is it true that linear svm is same NN, and for non-linear separable problems, NN uses adding hidden layers and SVM uses changing space dimensions?
There are two parts to this question. The first part is "what is the form of function learned by these methods?" For NN and SVM this is typically the same. For example, a single hidden layer neural network uses exactly the same form of model as an SVM. That is:
Given an input vector x, the output is:
output(x) = sum_over_all_i weight_i * nonlinear_function_i(x)
Generally the nonlinear functions will also have some parameters. So these methods need to learn how many nonlinear functions should be used, what their parameters are, and what the value of all the weight_i weights should be.
Therefore, the difference between a SVM and a NN is in how they decide what these parameters should be set to. Usually when someone says they are using a neural network they mean they are trying to find the parameters which minimize the mean squared prediction error with respect to a set of training examples. They will also almost always be using the stochastic gradient descent optimization algorithm to do this. SVM's on the other hand try to minimize both training error and some measure of "hypothesis complexity". So they will find a set of parameters that fits the data but also is "simple" in some sense. You can think of it like Occam's razor for machine learning. The most common optimization algorithm used with SVMs is sequential minimal optimization.
Another big difference between the two methods is that stochastic gradient descent isn't guaranteed to find the optimal set of parameters when used the way NN implementations employ it. However, any decent SVM implementation is going to find the optimal set of parameters. People like to say that neural networks get stuck in a local minima while SVMs don't.
NNs are heuristic, while SVMs are theoretically founded. A SVM is guaranteed to converge towards the best solution in the PAC (probably approximately correct) sense. For example, for two linearly separable classes SVM will draw the separating hyperplane directly halfway between the nearest points of the two classes (these become support vectors). A neural network would draw any line which separates the samples, which is correct for the training set, but might not have the best generalization properties.
So no, even for linearly separable problems NNs and SVMs are not same.
In case of linearly non-separable classes, both SVMs and NNs apply non-linear projection into higher-dimensional space. In the case of NNs this is achieved by introducing additional neurons in the hidden layer(s). For SVMs, a kernel function is used to the same effect. A neat property of the kernel function is that the computational complexity doesn't rise with the number of dimensions, while for NNs it obviously rises with the number of neurons.
Running a simple out-of-the-box comparison between support vector machines and neural networks (WITHOUT any parameter-selection) on several popular regression and classification datasets demonstrates the practical differences: an SVM becomes a very slow predictor if many support vectors are being created while a neural network's prediction speed is much higher and model-size much smaller. On the other hand, the training time is much shorter for SVMs. Concerning the accuracy/loss - despite the aforementioned theoretical drawbacks of neural networks - both methods are on par - especially for regression problems, neural networks often outperform support vector machines. Depending on your specific problem, this might help to choose the right model.
Both Support Vector Machines (SVMs) and Artificial Neural Networks (ANNs) are supervised machine learning classifiers. An ANN is a parametric classifier that uses hyper-parameters tuning during the training phase. An SVM is a non-parametric classifier that finds a linear vector (if a linear kernel is used) to separate classes. Actually, in terms of the model performance, SVMs are sometimes equivalent to a shallow neural network architecture. Generally, an ANN will outperform an SVM when there is a large number of training instances, however, neither outperforms the other over the full range of problems.
We can summarize the advantages of the ANN over the SVM as follows:
ANNs can handle multi-class problems by producing probabilities for each class. In contrast, SVMs handle these problems using independent one-versus-all classifiers where each produces a single binary output. For example, a single ANN can be trained to solve the hand-written digits problem while 10 SVMs (one for each digit) are required.
Another advantage of ANNs, from the perspective of model size, is that the model is fixed in terms of its inputs nodes, hidden layers, and output nodes; in an SVM, however, the number of support vector lines could reach the number of instances in the worst case.
The SVM does not perform well when the number of features is greater than the number of samples. More work in feature engineering is required for an SVM than that needed for a multi-layer Neural Network.
On the other hand, SVMs are better than ANNs in certain respects:
In comparison to SVMs, ANNs are more prone to becoming trapped in local minima, meaning that they sometime miss the global picture.
While most machine learning algorithms can overfit if they don’t have enough training samples, ANNs can also overfit if training goes on for too long - a problem that SVMs do not have.
SVM models are easier to understand. There are different kernels that provide a different level of flexibilities beyond the classical linear kernel, such as the Radial Basis Function kernel (RBF). Unlike the linear kernel, the RBF can handle the case when the relation between class labels and attributes is nonlinear.
SVMs and NNs have the same building block as perceptrons, but SVMs also uses a kernel trick to raise dimension from say 2 to 3d by translation such as Y = (x1,2,..^2, y1,2...^2) which can separate linearly inseparable plains using a straight line. Want a demo like it and ask me :)
Actually, they are exactly equivalent to each other. The only difference is in their standard implementations with selections of activation function and regularization etc, which obviously differ from each other. Also, I have yet not seen a dual formulation for neural networks, but SVMs are moving toward the primal anyway.
Practically, most of your assumption are often quite true. I'll elaborate: for linear separable classes Linear SVM works quite good and and it's much faster to train. For non linear classes there is the kernel trick, which is sending your data to a higher dimension space. This trick however has two disadvantages compared to NN. First - your have to search for the right parameters , because the classifier will only work if in the higher dimension the two sets will be linearly separable. Now - testing parameters is often done by grid search which is CPU-time consuming. The other problem is that this whole technique is not as general as NN (for example, for NLP if often results in poor classifier).
For my bachelor's thesis I want to write a genetic algorithm that learns to play the game of Stratego (if you don't know this game, it's probably safe to assume I said chess). I haven't ever before done actual AI projects, so it's an eye-opener to see how little I actually know of implementing things.
The thing I'm stuck with is coming up with a good representation for an actual strategy. I'm probably making some thinking error, but some problems I encounter:
I don't assume you would have a representation containing a lot of
transitions between board positions, since that would just be
bruteforcing it, right?
What could branches of a decision tree look
like? Any representation I come up with don't have interchangeable
branches... If I were to use a bit string, which is apparently also
common, what would the bits represent?
Do I assign scores to the distance between certain pieces? How would I represent that?
I think I ought to know these things after three+ years of study, so I feel pretty stupid - this must look likeI have no clue at all. Still, any help or tips on what to Google would be appreciated!
I think, you could define a decision model and then try to optimize the parameters of that model. You can create multi-stage decision models also. I once did something similar for solving a dynamic dial-a-ride problem (paper here) by modeling it as a two stage linear decision problem. To give you an example, you could:
For each of your figures decide which one is to move next. Each figure is characterized by certain features derived from its position on the board, e.g. ability to make a score, danger, protecting x other figures, and so on. Each of these features can be combined (e.g. in a linear model, through a neural network, through a symbolic expression tree, a decision tree, ...) and give you a rank on which figure to act next with.
Acting with the figure you selected. Again there are a certain number of actions that can be taken, each has certain features. Again you can combine and rank them and one action will have the highest priority. This is the one you choose to perform.
The features you extract can be very simple or insanely complex, it's up to what you think will work best vs what takes how long to compute.
To evaluate and improve the quality of your decision model you can then simulate these decisions in several games against opponents and train the parameters of the model that combines these features to rank the moves (e.g. using a GA). This way you tune the model to win as many games as possible against the specified opponents. You can test the generality of that model by playing against opponents it has not seen before.
As Mathew Hall just said, you can use GP for this (if your model is a complex rule), but this is just one kind of model. In my case a linear combination of the weights did very well.
Btw, if you're interested we've also got a software on heuristic optimization which provides you with GA, GP and that stuff. It's called HeuristicLab. It's GPL and open source, but comes with a GUI (Windows). We've some Howto on how to evaluate the fitness function in an external program (data exchange using protocol buffers), so you can work on your simulation and your decision model and let the algorithms present in HeuristicLab optimize your parameters.
Vincent,
First, don't feel stupid. You've been (I infer) studying basic computer science for three years; now you're applying those basic techniques to something pretty specialized-- a particular application (Stratego) in a narrow field (artificial intelligence.)
Second, make sure your advisor fully understands the rules of Stratego. Stratego is played on a larger board, with more pieces (and more types of pieces) than chess. This gives it a vastly larger space of legal positions, and a vastly larger space of legal moves. It is also a game of hidden information, increasing the difficulty yet again. Your advisor may want to limit the scope of the project, e.g., concentrate on a variant with full observation. I don't know why you think this is simpler, except that the moves of the pieces are a little simpler.
Third, I think the right thing to do at first is to take a look at how games in general are handled in the field of AI. Russell and Norvig, chapters 3 (for general background) and 5 (for two player games) are pretty accessible and well-written. You'll see two basic ideas: One, that you're basically performing a huge search in a tree looking for a win, and two, that for any non-trivial game, the trees are too large, so you search to a certain depth and then cop out with a "board evaluation function" and look for one of those. I think your third bullet point is in this vein.
The board evaluation function is the magic, and probably a good candidate for using either a genetic algorithm, or a genetic program, either of which might be used in conjunction with a neural network. The basic idea is that you are trying to design (or evolve, actually) a function that takes as input a board position, and outputs a single number. Large numbers correspond to strong positions, and small numbers to weak positions. There is a famous paper by Chellapilla and Fogel showing how to do this for a game of Checkers:
http://library.natural-selection.com/Library/1999/Evolving_NN_Checkers.pdf
I think that's a great paper, tying three great strands of AI together: Adversarial search, genetic algorithms, and neural networks. It should give you some inspiration about how to represent your board, how to think about board evaluations, etc.
Be warned, though, that what you're trying to do is substantially more complex than Chellapilla and Fogel's work. That's okay-- it's 13 years later, after all, and you'll be at this for a while. You're still going to have a problem representing the board, because the AI player has imperfect knowledge of its opponent's state; initially, nothing is known but positions, but eventually as pieces are eliminated in conflict, one can start using First Order Logic or related techniques to start narrowing down individual pieces, and possibly even probabilistic methods to infer information about the whole set. (Some of these may be beyond the scope of an undergrad project.)
The fact you are having problems coming up with a representation for an actual strategy is not that surprising. In fact I would argue that it is the most challenging part of what you are attempting. Unfortunately, I haven't heard of Stratego so being a bit lazy I am going to assume you said chess.
The trouble is that a chess strategy is rather a complex thing. You suggest in your answer containing lots of transitions between board positions in the GA, but a chess board has more possible positions than the number of atoms in the universe this is clearly not going to work very well. What you will likely need to do is encode in the GA a series of weights/parameters that are attached to something that takes in the board position and fires out a move, I believe this is what you are hinting at in your second suggestion.
Probably the simplest suggestion would be to use some sort of generic function approximation like a neural network; Perceptrons or Radial Basis Functions are two possibilities. You can encode weights for the various nodes into the GA, although there are other fairly sound ways to train a neural network, see Backpropagation. You could perhaps encode the network structure instead/as well, this also has the advantage that I am pretty sure a fair amount of research has been done into developing neural networks with a genetic algorithm so you wouldn't be starting completely from scratch.
You still need to come up with how you are going to present the board to the neural network and interpret the result from it. Especially, with chess you would have to take note that a lot of moves will be illegal. It would be very beneficial if you could encode the board and interpret the result such that only legal moves are presented. I would suggest implementing the mechanics of the system and then playing around with different board representations to see what gives good results. A few ideas top of the head ideas to get you started could be, although I am not really convinced any of them are especially great ways to do this:
A bit string with all 64 squares one after another with a number presenting what is present in each square. Most obvious, but probably a rather bad representation as a lot of work will be required to filter out illegal moves.
A bit string with all 64 squares one after another with a number presenting what can move to each square. This has the advantage of embodying the covering concept of chess where you what to gain as much coverage of the board with your pieces as possible, but still has problems with illegal moves and dealing with friendly/enemy pieces.
A bit string with all 32 pieces one after another with a number presenting the location of that piece in each square.
In general though I would suggest that chess is rather a complex game to start with, I think it will be rather hard to get something playing to standard which is noticeably better than random. I don't know if Stratego is any simpler, but I would strongly suggest you opt for a fairly simple game. This will let you focus on getting the mechanics of the implementation correct and the representation of the game state.
Anyway hope that is of some help to you.
EDIT: As a quick addition it is worth looking into how standard chess AI's work, I believe most use some sort of Minimax system.
When you say "tactic", do you mean you want the GA to give you a general algorithm to play the game (i.e. evolve an AI) or do you want the game to use a GA to search the space of possible moves to generate a move at each turn?
If you want to do the former, then look into using Genetic programming (GP). You could try to use it to produce the best AI you can for a fixed tree size. JGAP already comes with support for GP as well. See the JGAP Robocode example for an instance of this. This approach does mean you need a domain specific language for a Stratego AI, so you'll need to think carefully how you expose the board and pieces to it.
Using GP means your fitness function can just be how well the AI does at a fixed number of pre-programmed games, but that requires a good AI player to start with (or a very patient human).
#DonAndre's answer is absolutely correct for movement. In general, problems involving state-based decisions are hard to model with GAs, requiring some form of GP (either explicit or, as #DonAndre suggested, trees that are essentially declarative programs).
A general Stratego player seems to me quite challenging, but if you have a reasonable Stratego playing program, "Setting up your Stratego board" would be an excellent GA problem. The initial positions of your pieces would be the phenotype and the outcome of the external Stratego-playing code would be the fitness. It is intuitively likely that random setups would be disadvantaged versus setups that have a few "good ideas" and that small "good ideas" could be combined into fitter-and-fitter setups.
...
On the general problem of what a decision tree, even trying to come up with a simple example, I kept finding it hard to come up with a small enough example, but maybe in the case where you are evaluation whether to attack a same-ranked piece (which, IIRC destroys both you and the other piece?):
double locationNeed = aVeryComplexDecisionTree();
if(thatRank == thisRank){
double sacrificeWillingness = SACRIFICE_GENETIC_BASE; //Assume range 0.0 - 1.0
double sacrificeNeed = anotherComplexTree(); //0.0 - 1.0
double sacrificeInContext = sacrificeNeed * SACRIFICE_NEED_GENETIC_DISCOUNT; //0.0 - 1.0
if(sacrificeInContext > sacrificeNeed){
...OK, this piece is "willing" to sacrifice itself
One way or the other, the basic idea is that you'd still have a lot of coding of Stratego-play, you'd just be seeking places where you could insert parameters that would change the outcome. Here I had the idea of a "base" disposition to sacrifice itself (presumably higher in common pieces) and a "discount" genetically-determined parameter that would weight whether the piece would "accept or reject" the need for a sacrifice.
I am new to machine learning. I am familiar with SVM , Neural networks and GA. I'd like to know the best technique to learn for classifying pictures and audio. SVM does a decent job but takes a lot of time. Anyone know a faster and better one? Also I'd like to know the fastest library for SVM.
Your question is a good one, and has to do with the state of the art of classification algorithms, as you say, the election of the classifier depends on your data, in the case of images, I can tell you that there is one method called Ada-Boost, read this and this to know more about it, in the other hand, you can find lots of people are doing some researh, for example in Gender Classification of Faces Using Adaboost [Rodrigo Verschae,Javier Ruiz-del-Solar and Mauricio Correa] they say:
"Adaboost-mLBP outperforms all other Adaboost-based methods, as well as baseline methods (SVM, PCA and PCA+SVM)"
Take a look at it.
If your main concern is speed, you should probably take a look at VW and generally at stochastic gradient descent based algorithms for training SVMs.
if the number of features is large in comparison to the number of the trainning examples
then you should go for logistic regression or SVM without kernel
if the number of features is small and the number of training examples is intermediate
then you should use SVN with gaussian kernel
is the number of features is small and the number of training examples is large
use logistic regression or SVM without kernels .
that's according to the stanford ML-class .
For such task you may need to extract features first. Only after that classification is feasible.
I think feature extraction and selection is important.
For image classification, there are a lot of features such as raw pixels, SIFT feature, color, texture,etc. It would be better choose some suitable for your task.
I'm not familiar with audio classication, but there may be some specturm features, like the fourier transform of the signal, MFCC.
The methods used to classify is also important. Besides the methods in the question, KNN is a reasonable choice, too.
Actually, using what feature and method is closely related to the task.
The method mostly depends on problem at hand. There is no method that is always the fastest for any problem. Having said that, you should also keep in mind that once you choose an algorithm for speed, you will start compromising on the accuracy.
For example- since your trying to classify images, there might a lot of features compared to the number of training samples at hand. In such cases, if you go for SVM with kernels, you could end up over fitting with the variance being too high.
So you would want to choose a method that has a high bias and low variance. Using logistic regression or linear SVM are some ways to do it.
You could also use different types of regularizations or techniques such as SVD to remove the features that do not contribute much to your output prediction and have only the most important ones. In other words, choose the features that have little or no correlation between them. Once you do this, you would be able to speed yup your SVM algorithms without sacrificing the accuracy.
Hope it helps.
there are some good techniques in learning machines such as, boosting and adaboost.
One method of classification is the boosting method. This method will iteratively manipulate data which will then be classified by a particular base classifier on each iteration, which in turn will build a classification model. Boosting uses weighting of each data in each iteration where its weight value will change according to the difficulty level of the data to be classified.
While the method adaBoost is one ensamble technique by using loss function exponential function to improve the accuracy of the prediction made.
I think your question is very open ended, and "best classifier for images" will largely depend on the type of image you want to classify. But in general, I suggest you study convulutional neural networks ( CNN ) and transfer learning, currently these are the state of the art techniques for the problem.
check out pre-trained models of cnn based neural networks from pytorch or tensorflow
Related to images I suggest you also study pre-processing of images, pre-processing techniques are very important to highlight some feature of the image and improve the generalization of the classifier.
I am running a physics simulation and applying a set of movement instructions to a simulated skeleton. I have a multiple sets of instructions for the skeleton consisting of force application to legs, arms, torso etc. and duration of force applied to their respective bone. Each set of instructions (behavior) is developed by testing its effectiveness performing the desired behavior, and then modifying the behavior with a genetic algorithm with other similar behaviors, and testing it again. The skeleton will have an array behaviors in its set list.
I have fitness functions which test for stability, speed, minimization of entropy and force on joints. The problem is that any given behavior will work for a specific context. One behavior works on flat ground, another works if there is a bump in front of the right foot, another if it's in front of the left, and so on. So the fitness of each behavior varies based on the context. Picking a behavior simply on its previous fitness level won't work because that fitness score doesn't apply to this context.
My question is, how do I program to have the skeleton pick the best behavior for the context? Such as picking the best walking behavior for a randomized bumpy terrain.
In a different answer I've given to this question, I assumed that the "terrain" information you have for your model was very approximate and large-grained, e.g., "smooth and flat", "rough", "rocky", etc. and perhaps only at a grid level. However, if the world model is in fact very detailed, such as from a simulated version of a 3-D laser range scanner, then algorithmic and computational path/motion planning approaches from robotics are likely to be more useful than a machine-learning classifier system.
PATH/MOTION PLANNING METHODS
There are a fairly large number of path and motion planning methods, including some perhaps more suited to walking/locomotion, but a few of the more general ones worth mentioning are:
Visibility graphs
Potential Fields
Sampling-based methods
The general solution approach would be use a path planning method to determine the walking trajectory that your skeleton should follow to avoid obstacles, and then use your GA-based controller to achieve the appropriate motion. This is very much at the core of robotics: sense the world and determine actions and motor control required to achieve some goal(s).
Also, a quick literature search turned up the following papers and a book as a source of ideas and starting points for further investigation. The paper on legged robot motion planning may be especially useful as it discusses several motion planning strategies.
Reading Suggestions
Steven Michael LaValle (2006). Planning Algorithms, Cambridge University Press.
Kris Hauser, Timothy Bretl, Jean-Claude Latombe, Kensuke Harada, Brian Wilcox (2008). "Motion Planning for Legged Robots on Varied Terrain", The International Journal of Robotics Research, Vol. 27, No. 11-12, 1325-1349,
DOI: 10.1177/0278364908098447
Guilherme N. DeSouza and Avinash C. Kak (2002). "Vision for Mobile Robot Navigation: A Survey", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 24, No. 2, February, pp 237-267.
Why not test the behaviors against a randomized bumpy terrain? Just set the parameters of the GA so that it's a little forgiving, and won't condemn a behavior for one or two failures.
You have two problems:
Bipedal locomotion without senses is very difficult. I've seen good robotic locomotion over rough terrain without senses, but never with only two legs. So the best solution you can possibly find this way might not be very good.
Running a GA is as much art as science. There are a lot of knobs you can turn, and it's hard to find parameters that will allow novelty to grow without drowning it in noise.
Starting simple (e.g. crawling) will help with both of these.
EDIT:
Wait... you're training it over and over on the same randomized terrain? Well no wonder you're having trouble! It's optimizing for that particular layout of rocks and bumps, which is much easier than generalizing. Depending on how your GA works, you might get some benefit from making the course really long, but a better solution is to randomize the terrain for every pass. When it can no longer exploit specific features of the terrain, it will have an evolutionary incentive to generalize. Since this is a more difficult problem it will not learn as quickly as it did before, and it might not be able to get very good at all with its current parameters; be prepared to tinker.
There are three aspects to my answer: (1) control theory, (2) sensing, and (3) merging sensing and action.
CONTROL THEORY
The answer to your problem depends partially on what kind of control scheme you are using: is it feed-forward or feedback control? If the latter, what simulated real-time sensors do you have other than terrain information?
Simply having terrain information and incorporating it into your control strategy would not mean you are using feedback control. It is possible to use such information to select a feed-forward strategy, which seems closest to the problem that you have described.
SENSING
Whether you are using feed-forward or feedback control, you need to represent the terrain information and any other sensory data as an input space for your control system. Part of training your GA-based motion controller should be moving your skeleton through a broad range of random terrain in order to learn feature detectors. The feature detectors classify the terrain scenarios by segmenting the input space into regions critical to deciding what is the best action policy, i.e., what control behavior to employ.
How to best represent the input space depends on the level of granularity of the terrain information you have for your simulation. If it's just a discrete space of terrain type and/or obstacles in some grid space, you may be able to present it directly to your GA without transformation. If, however, the data is in a continuous space such as terrain type and obstacles at arbitrary range/direction, you may need to transform it into a space from which it may be easier to infer spatial relationships, such as coarse-coded range and direction, e.g., near, mid, far and forward, left-forward, left, etc. Gaussian and fuzzy classifiers can be useful for the latter approach, but discrete-valued coding can also work.
MERGING SENSING AND ACTION
Using one of the input-space-encoding approaches above, you have a few options for how to connect behavior selection search space and motion control search space:
Separate the two spaces into two learning problems and use a separate GA to evolve the parameters of a standard multi-layer perceptron neural network. The latter would have your sensor data (perhaps transformed) as inputs and your set of skeleton behaviors as outputs. Instead of using back-propagation or some other ANN-learning method to learn the network weights, your GA could use some fitness function to evolve the parameters over a series of simulated trials, e.g., fitness = distance traveled in a fixed time period toward point B starting from point A. This should evolve over successive generations from completely random selection of behaviors to something more coordinated and useful.
Merge the two search spaces (behavior selection and skeleton motor control) by linking a multi-layer perceptron network as described in (1) above into the existing GA-based controller framework that you have, using the skeleton behavior set as the linkage. The parameter space that will be evolved will be both the neural network weights and whatever your existing controller parameter space is. Assuming that you are using a multi-objective genetic algorithm, such as the NSGA-II algorithm, (since you have multiple fitness functions), the fitness functions would be stability, speed, minimization of entropy, force on joints, etc, plus some fitness function(s) targeted at learning the behavior-selection policy, e.g., distance moved toward point B starting from point A in a fixed time period.
The difference between this approach and (1) above is that you may be able to learn both better coordination of behaviors and finer-grain motor control since the parameter space is likely to be better explored when the two problems are merged as opposed to being separate. The downside is that it may take much longer to converge on reasonable parameter solutions(s), and not all aspects of motor control may be learned as well as they would if the two learning problems were kept separate.
Given that you already have working evolved solutions for the motor control problem, you are probably better off using approach (1) to learn the behavior-selection model with a separate GA. Also, there are many alternatives to the hybrid GA-ANN scheme I described above for learning the latter model, including not learning a model at all and instead using a path planning algorithm as described in a separate answer from me. I simply offered this approach since you are already familiar with GA-based machine learning.
The action selection problem is a robust area of research in both machine learning and autonomous robotics. It's probably well-worth reading up on this topic in itself to gain better perspective and insight into your current problem, and you may be able to devise a simpler strategy than anything I've suggested so far by viewing your problem through the lens of this paradigm.
You're using a genetic algorithm to modify the behavior, so that must mean you have devised a fitness function for each combination of factors. Is that your question?
If yes, the answer depends on what metrics you use to define best walking behavior:
Maximize stability
Maximize speed
Minimize forces on joints
Minimize energy or entropy production
Or do you just try a bunch of parameters, record the values, and then let the genetic algorithm drive you to the best solution?
If each behavior works well in one context and not another, I'd try quantifying how to sense and interpolate between contexts and blend the strategies to see if that would help.
It sounds like at this point you have just a classification problem. You want to map some knowledge about what you are currently walking on to one of a set of classes. Knowing the class of the terrain allows you to then invoke the proper subroutine. Is this correct?
If so, then there are a wide array of classification engines that you can use including neural networks, Bayesian networks, decision trees, nearest neighbor, etc. In order to pick the best fit, we will need more information about your problem.
First, what kind of input or sensory data do you have available to help you identify the behavior class you should invoke? Second, can you describe the circumstances in which you will be training this classifier and what the circumstances are during runtime when you deploy it, such as any limits on computational resources or requirements of robustness to noise?
EDIT: Since you have a fixed number of classes, and you have some parameterized model for generating all possible terrains, I would consider using k-means clustering. The principle is as follows. You cluster a whole bunch of terrains into k different classes, where each cluster is associated with one of your specialized subroutines that performs best for that cluster of terrains. Then when a new terrain comes in, it will probably fall near one of these clusters. You then invoke the corresponding specialized subroutine to navigate that terrain.
Do this offline: Generate enough random terrains to sufficiently sample the parameter space, map these terrains to your sensory space (but remember which points in sensory space correspond to which terrains), and then run k-means clustering on this sensory space corpus where k is the number of classes you want to learn. Your distance function between a class representative C and a point P in sensory space would be simply the fitness function of letting algorithm C navigate the terrain that generated P. You would then get a partitioning of your sensory space into k clusters, each cluster mapping to the best subroutine that you've got. Each cluster will have a representative point in sensory space.
Now during runtime: You will get some unlabeled point in sensory space. Use a different distance function to find the closest representative point to this new incoming point. That tells you what class the terrain is.
Note that the success of this method depends on the quality of the mapping from the parameter space of terrain generation to sensory space, from sensory space to your fitness functions, and the eventual distance function you use to compare points in sensory space.
Note also that if you had enough memory, instead of only using the k representative sensory points to tell you which class an unlabeled sensory point belongs to, you might go through your training set and label all points with the learned class. Then during runtime you pick the nearest neighbor, and conclude that your unlabeled point in sensory space is in the same class as that neighbor.