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[Перевод] Самопаркующийся авто за 500 строк кода

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TLDR


В этой статье мы научим авто самостоятельно парковаться с помощью генетического алгоритма.


Мы создадим первое поколение авто с произвольными геномами, которое будет вести себя примерно так:


8gbsullqgo6q2vikath_8qrhuim.gif



Примерно на сороковом поколении авто начнут понимать, что такое авто-парковка, и начнут приближаться к парковочному месту:


k96gh0vysbjgtgrea-2-6wc-9kg.gif



Другой пример с более сложной отправной точкой:


uskc64_n8y2t_l5rsr2rzigwjhi.gif



Да-да, авто врезаются в другие авто и паркуются не идеально, но это лишь 40 поколение с момента создания их мира, поэтому будьте милостивы и позвольте авто расти :D

Вы можете запустить симулятор, чтобы увидеть процесс эволюции прямо в браузере. Симулятор предоставляет следующие возможности:



Генетический алгоритм для этого проекта реализован на TypeScript. Полный исходный код проекта можно найти в этом репозитории.


Мы будем использовать генетический алгоритм для эволюционирования геномов авто. Однако статья затрагивает только основы алгоритма и не является исчерпывающим руководством по генетическим алгоритмам.

Готовы? Тогда поехали.


План


Шаг за шагом мы перейдем от высокоуровневой задачи создания самопаркующегося авто к простой низкоуровневой задаче поиска оптимальной комбинации 180 битов (поиска оптимального генома авто).


Мы собираемся сделать следующее:


  1. 💪🏻 Дать авто мышцы (мускулы) (двигатель, рулевое колесо), чтобы оно могло двигаться к парковочному месту.
  2. 👀 Дать авто глаза (сенсоры или датчики), чтобы оно могло видеть препятствия вокруг.
  3. 🧠 Дать авто мозг, чтобы оно могло управлять мышцами (движениями) на основе того, что оно видит (препятствия через сенсоры). Мозг будет простой чистой функцией движения = f(сенсоры)
  4. 🧬 Эволюционировать мозг, чтобы совершать правильные движения на основе данных сенсоров. Здесь мы будем применять генетический алгоритм. Поколение за поколением наша функция мозга движения = f(сенсоры) будет учиться парковаться.

Даем авто мышцы


Для того, чтобы двигаться, авто нужны "мышцы". Дадим авто 2 типа мышц:


  1. Мышцы двигателя — позволяют авто двигаться ↓ назад, ↑ вперед или ◎ продолжать движение (нейтральная передача)
  2. Мышцы руля — позволяют авто поворачивать ← влево, → вправо или ◎ двигаться прямо

С этими двумя мышцами авто сможет выполнять следующие движения:


me0fr_70mnb0amrrqomvygdx858.gif



В нашем случае мышцы — это приемники сигналов, поступающих от мозга каждые 100 мс. Мышцы ведут себя по-разному в зависимости от сигнала мозга. Мы поговорим о "мозге" ниже, а сейчас допустим, что мозг может посылать 3 сигнала для каждой мышцы: -1, 0 или +1.


type MuscleSignal = -1 | 0 | 1;

Например, мозг может послать сигнал со значением +1 в мышцу двигателя и авто начнет двигаться вперед. Сигнал -1 в мышцу двигателя двигает авто назад. Если мозг посылает сигнал -1 в мышцу руля, авто поворачивает налево и т.д.


Вот как значения сигнала мозга сопоставляются с действиями мышц в нашем случае:


Мышца -1 0 1
Двигатель ↓ Назад ◎ Нейтраль ↑ Вперед
Руль ← Налево ◎ Прямо → Направо

В случае ручной парковки в симуляторе при нажатии одной из клавиш WASD (или касании сенсорного экрана) в мышцы посылаются сигналы -1, 0 или +1.

Даем авто глаза


Перед тем, как наше авто научится парковаться с помощью мышц, оно должно иметь возможность "видеть" окружение. Дадим ему 8 глаз в форме сенсоров расстояния:


  • каждый сенсор обнаруживает препятствие на расстоянии от 0 до 4 м
  • каждый сенсор отправляет информацию о видимом препятствии в мозг каждые 100 мс
  • если сенсор не видит препятствия, он отправляет в мозг значение 0. Если значение сенсора чуть больше нуля (например, 0.01), значит, препятствие находится очень близко

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С помощью симулятора можно увидеть, как меняется цвет каждого сенсора в зависимости от близости препятствия.

type Sensors = number[];

Даем авто мозг


На данный момент наше авто может видеть и двигаться, но отсутствует "координатор", который будет трансформировать сигналы от глаз в соответствующие движения мышц. Нам нужен мозг.


Входные данные мозга


В качестве входных данных от сенсоров каждые 100 мс мозг будет получать 8 чисел с плавающей запятой, каждое в диапазоне [0...4]. Входные данные могут выглядеть так:


const sensors: Sensors = [s0, s1, s2, s3, s4, s5, s6, s7];
// например, 🧠 ← [0, 0.5, 4, 0.002, 0, 3.76, 0, 1.245]

Выходные данные


Каждые 100 мс мозг должен генерировать 2 целых числа:


  1. Сигнал для двигателя — engineSignal.
  2. Сигнал для руля — wheelSignal.

Каждое число должно иметь тип MuscleSignal и принимать одно из 3 значений: -1, 0 или +1.


Формулы/функции мозга


Принимая во внимание только что написанное, можно сказать, что мозг — это просто функция:


const { engineSignal, wheelSignal } = brainToMuscleSignal(
  brainFunction(sensors)
);
// например, { engineSignal: 0, wheelSignal: -1 } ← 🧠 ← [0, 0.5, 4, 0.002, 0, 3.76, 0, 1.245]

Где brainToMuscleSignal — это функция, конвертирующая сырые сигналы мозга (числа с плавающей запятой) в сигналы мышц (числа -1, 0 или +1), которые мышцы способны понять. Мы реализуем эту функцию преобразования позже.


Сейчас главный вопрос — что представляет собой brainFunction?


Чтобы сделать автомобиль умнее, а его движения более сложными, можно использовать многослойный перцептрон. Название немного пугающее, но это просто нейронная сеть с базовой архитектурой (думайте об этом как о формуле с большим количеством параметров/коэффициентов).


Я рассказывал о многослойном перцептроне в проектах homemade-machine-learning, machine-learning-experiments и nano-neuron.

Однако, вместо нейронных сетей, мы выберем гораздо более простой подход и будем использовать два линейных полинома с несколькими переменными (если быть точнее, то в каждом полиноме будет ровно 8 переменных, по 1 на сенсор), которые будут выглядеть примерно так:


engineSignal = brainToMuscleSignal(
  (e0 * s0) + (e1 * s1) + ... + (e7 * s7) + e8 // <- brainFunction
)

wheelSignal = brainToMuscleSignal(
  (w0 * s0) + (w1 * s1) + ... + (w7 * s7) + w8 // <- brainFunction
)

Где:


  • [s0, s1, ..., s7] — 8 переменных: значения сенсоров, являются динамическими
  • [e0, e1, ..., e8] — 9 коэффициентов для полинома двигателя. Авто должен будет этому научиться, значения будут статическими
  • [w0, w1, ..., w8] — 9 коэффициентов для полинома руля. Авто должен будет этому научиться, значения будут статическими

Ценой использования простой функции будет то, что мозг авто не сможет учиться сложным движениям, будет плохо обобщать и адаптироваться к неизвестному окружению. Но для парковки и в целях демонстрации работы генетического алгоритма этого должно быть достаточно.


Общую полиномиальную функцию можно реализовать следующим образом:


type Coefficients = number[];

// Функция для вычисления линейного полинома на основе коэффициентов и переменных
const linearPolynomial = (coefficients: Coefficients, variables: number[]): number => {
  if (coefficients.length !== (variables.length + 1)) {
    throw new Error('Количество коэффициентов и переменных не совпадает');
  }
  let result = 0;
  coefficients.forEach((coefficient: number, coefficientIndex: number) => {
    if (coefficientIndex < variables.length) {
      result += coefficient * variables[coefficientIndex];
    } else {
      // Последний коэффициент добавляется без умножения
      result += coefficient
    }
  });
  return result;
};

В этом случае мозг авто будет состоять из 2 полиномов и будет выглядеть так:


const engineSignal: MuscleSignal = brainToMuscleSignal(
  linearPolynomial(engineCoefficients, sensors)
);

const wheelSignal: MuscleSignal = brainToMuscleSignal(
  linearPolynomial(wheelCoefficients, sensors)
);

Результатом функции linearPolynomial является число с плавающей запятой. Функция brainToMuscleSignal должна конвертировать широкий диапазон чисел с плавающей запятой в 3 целых числа. Она будет это делать в 2 этапа:


  1. Преобразование любого числа с плавающей запятой (например, 0.456, 3673.45 или -280) в число с плавающей запятой в диапазоне (0...1) (например, 0.05 или 0.86).
  2. Преобразование числа с плавающей запятой в диапазоне (0...1) в целые числа -1, 0 или +1. Например, число, близкое к 0, будет преобразовано в -1, число, близкое к 0.5, будет преобразовано в 0, а число, близкое к 1, будет преобразовано в 1.

Для выполнения первого преобразования нам потребуется сигмоида, реализующая следующую формулу:


3ugloonpejunico7hnqwdrrdopa.png



Она преобразует любое число с плавающей запятой (ось x) в число в диапазоне (0...1) (ось y). Это именно то, что нам нужно.


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Вот как выглядят шаги преобразования на сигмовидном графике:


lxo-5lpjeaie9yosx-cpydvoiuq.png



Возможная реализация двух упомянутых выше преобразований:


// Вычисляет сигмоидное значение для переданного числа
const sigmoid = (x: number): number => {
  return 1 / (1 + Math.E ** -x);
};

// Преобразует сигмоидное значение (0...1) в сигналы мышц (-1, 0, +1).
// Параметр `margin` - это значение между 0 и 0.5:
// [0 ... (0.5 - margin) ... 0.5 ... (0.5 + margin) ... 1]
const sigmoidToMuscleSignal = (sigmoidValue: number, margin: number = 0.4): MuscleSignal => {
  if (sigmoidValue < (0.5 - margin)) {
    return -1;
  }
  if (sigmoidValue > (0.5 + margin)) {
    return 1;
  }
  return 0;
};

// Преобразует сигнал мозга в сигнал мышц
const brainToMuscleSignal = (rawBrainSignal: number): MuscleSignal => {
  const normalizedBrainSignal = sigmoid(rawBrainSignal);
  return sigmoidToMuscleSignal(normalizedBrainSignal);
}

Геном авто (ДНК)


Основной вывод предыдущего раздела: коэффициенты [e0, e1, ..., e8] и [w0, w1, ..., w8] определяют поведение авто. Эти 18 чисел вместе формируют уникальный геном авто (его ДНК, если угодно).

Геном авто в десятичной форме


Объединим коэффициенты [e0, e1, ..., e8] и [w0, w1, ..., w8] вместе для формирования генома авто в десятичной форме:


// Геном авто - это список десятичных чисел (коэффициентов)
const carGenomeBase10 = [e0, e1, ..., e8, w0, w1, ..., w8];
// например, carGenomeBase10 = [17.5, 0.059, -46, 25, 156, -0.085, -0.207, -0.546, 0.071, -58, 41, 0.011, 252, -3.5, -0.017, 1.532, -360, 0.157]

Геном авто в двоичной форме


Сделаем шаг вперед (на уровень генов) и преобразуем десятичные числа генома авто в двоичный формат (в 1 и 0).


Я подробно описал процесс преобразования чисел с плавающей запятой в двоичные числа в статье "Двоичное представление чисел с плавающей запятой". Взгляните на нее, если возникнут вопросы.

Пример преобразования числа с плавающей запятой в 16-битное двоичное число:


q_9whgngpzhj9yfbcp-zz7ufyx8.png



В нашем случае для уменьшения длины генома мы конвертируем каждое число в нестандартное 10-битное число (1 бит знака, 4 бита экспоненты и 5 дробных битов).


Всего у нас 18 коэффициентов, каждый будет конвертирован в 10-битное число. Это означает, что геном авто будет представлять собой массив из 0 и 1 длиной 18 * 10 = 180 бит.


Например, геном в десятичном формате, упомянутый выше, в двоичном формате будет выглядеть так:


type Gene = 0 | 1;

type Genome = Gene[];

const genome: Genome = [
  // Коэффициенты двигателя
  0, 1, 0, 1, 1, 0, 0, 0, 1, 1, // <- 17.5
  0, 0, 0, 1, 0, 1, 1, 1, 0, 0, // <- 0.059
  1, 1, 1, 0, 0, 0, 1, 1, 1, 0, // <- -46
  0, 1, 0, 1, 1, 1, 0, 0, 1, 0, // <- 25
  0, 1, 1, 1, 0, 0, 0, 1, 1, 1, // <- 156
  1, 0, 0, 1, 1, 0, 1, 1, 0, 0, // <- -0.085
  1, 0, 1, 0, 0, 1, 0, 1, 0, 1, // <- -0.207
  1, 0, 1, 1, 0, 0, 0, 0, 1, 1, // <- -0.546
  0, 0, 0, 1, 1, 0, 0, 1, 0, 0, // <- 0.071

  // Коэффициенты руля
  1, 1, 1, 0, 0, 1, 1, 0, 1, 0, // <- -58
  0, 1, 1, 0, 0, 0, 1, 0, 0, 1, // <- 41
  0, 0, 0, 0, 0, 0, 1, 0, 1, 0, // <- 0.011
  0, 1, 1, 1, 0, 1, 1, 1, 1, 1, // <- 252
  1, 1, 0, 0, 0, 1, 1, 0, 0, 0, // <- -3.5
  1, 0, 0, 0, 1, 0, 0, 1, 0, 0, // <- -0.017
  0, 0, 1, 1, 1, 1, 0, 0, 0, 1, // <- 1.532
  1, 1, 1, 1, 1, 0, 1, 1, 0, 1, // <- -360
  0, 0, 1, 0, 0, 0, 1, 0, 0, 0, // <- 0.157
];

О боже! Бинарный геном выглядит так загадочно. Но эти 180 нулей и единиц определяют поведение авто на парковке! Это все равно, что хакнуть чужую ДНК и точно определить, что делает каждый ген. Потрясающе!


Кстати, точные значения геномов и коэффициентов лучшего авто можно видеть на панели управления симулятора:


mydackjh-pnfcjtrnywoe0xxnow.png



Вот исходный код, который выполняет преобразование чисел с плавающей запятой из двоичного в десятичный формат (это понадобится мозгу для декодирования генома и создания мышечных сигналов на основе данных генома):


type Bit = 0 | 1;

type Bits = Bit[];

type PrecisionConfig = {
  signBitsCount: number,
  exponentBitsCount: number,
  fractionBitsCount: number,
  totalBitsCount: number,
};

type PrecisionConfigs = {
  custom: PrecisionConfig,
};

const precisionConfigs: PrecisionConfigs = {
  //  Специальный 10-битный объект для более быстрой эволюции
  custom: {
    signBitsCount: 1,
    exponentBitsCount: 4,
    fractionBitsCount: 5,
    totalBitsCount: 10,
  },
};

// Преобразует числа с плавающей запятой из бинарного в десятичный формат
function bitsToFloat(bits: Bits, precisionConfig: PrecisionConfig): number {
  const { signBitsCount, exponentBitsCount } = precisionConfig;

  // Определяем знак
  const sign = (-1) ** bits[0]; // -1^1 = -1, -1^0 = 1

  // Вычисляем значение экспоненты
  const exponentBias = 2 ** (exponentBitsCount - 1) - 1;
  const exponentBits = bits.slice(signBitsCount, signBitsCount + exponentBitsCount);
  const exponentUnbiased = exponentBits.reduce(
    (exponentSoFar: number, currentBit: Bit, bitIndex: number) => {
      const bitPowerOfTwo = 2 ** (exponentBitsCount - bitIndex - 1);
      return exponentSoFar + currentBit * bitPowerOfTwo;
    },
    0,
  );
  const exponent = exponentUnbiased - exponentBias;

  // Вычисляем значение дроби
  const fractionBits = bits.slice(signBitsCount + exponentBitsCount);
  const fraction = fractionBits.reduce(
    (fractionSoFar: number, currentBit: Bit, bitIndex: number) => {
      const bitPowerOfTwo = 2 ** -(bitIndex + 1);
      return fractionSoFar + currentBit * bitPowerOfTwo;
    },
    0,
  );

  // Объединяем все вместе
  return sign * (2 ** exponent) * (1 + fraction);
}

// Преобразует 8-битное двоичное число с плавающей запятой в десятичное
function bitsToFloat10(bits: Bits): number {
  return bitsToFloat(bits, precisionConfigs.custom);
}

Функция мозга для работы с двоичным геномом


Ранее функция мозга работала с полиномиальными коэффициентами engineCoefficients и wheelCoefficients напрямую. Однако сейчас эти коэффициенты кодируются в бинарную форму генома. Добавим функцию decodeGenome для извлечения коэффициентов из генома и перепишем функции мозга:


// Авто имеет 8 сенсоров расстояния
const CAR_SENSORS_NUM = 8;

// Дополнительный коэффициент, не связанный с сенсорами
const BIAS_UNITS = 1;

// Количество генов для кодирования каждого числового параметра в формулах
const GENES_PER_NUMBER = precisionConfigs.custom.totalBitsCount;

// Нам требуется 2 формулы для определения поведения авто:
// 1. Формула двигателя (входные данные: 8 сенсоров; выходные данные: -1 (назад), 0 (тоже направление), +1 (вперед))
// 2. Формула руля (входные данные: 8 сенсоров; выходные данные: -1 (влево), 0 (прямо), +1 (вправо))
const ENGINE_FORMULA_GENES_NUM = (CAR_SENSORS_NUM + BIAS_UNITS) * GENES_PER_NUMBER;
const WHEELS_FORMULA_GENES_NUM = (CAR_SENSORS_NUM + BIAS_UNITS) * GENES_PER_NUMBER;

// Длина бинарного генома авто
const GENOME_LENGTH = ENGINE_FORMULA_GENES_NUM + WHEELS_FORMULA_GENES_NUM;

type DecodedGenome = {
  engineFormulaCoefficients: Coefficients,
  wheelsFormulaCoefficients: Coefficients,
}

// Преобразует геном из бинарной формы в десятичную
const genomeToNumbers = (genome: Genome, genesPerNumber: number): number[] => {
  if (genome.length % genesPerNumber !== 0) {
    throw new Error('Неверное количество генов');
  }
  const numbers: number[] = [];
  for (let numberIndex = 0; numberIndex < genome.length; numberIndex += genesPerNumber) {
    const number: number = bitsToFloat10(genome.slice(numberIndex, numberIndex + genesPerNumber));
    numbers.push(number);
  }
  return numbers;
};

// Преобразует геном из бинарной формы в десятичную и
// делит геном на 2 набора коэффициентов (по одному на каждую мышцу)
const decodeGenome = (genome: Genome): DecodedGenome => {
  const engineGenes: Gene[] = genome.slice(0, ENGINE_FORMULA_GENES_NUM);
  const wheelsGenes: Gene[] = genome.slice(
    ENGINE_FORMULA_GENES_NUM,
    ENGINE_FORMULA_GENES_NUM + WHEELS_FORMULA_GENES_NUM,
  );

  const engineFormulaCoefficients: Coefficients = genomeToNumbers(engineGenes, GENES_PER_NUMBER);
  const wheelsFormulaCoefficients: Coefficients = genomeToNumbers(wheelsGenes, GENES_PER_NUMBER);

  return {
    engineFormulaCoefficients,
    wheelsFormulaCoefficients,
  };
};

// Обновляет функцию мозга для мышцы двигателя
export const getEngineMuscleSignal = (genome: Genome, sensors: Sensors): MuscleSignal => {
  const { engineFormulaCoefficients: coefficients } = decodeGenome(genome);
  const rawBrainSignal = linearPolynomial(coefficients, sensors);
  return brainToMuscleSignal(rawBrainSignal);
};

// Обновляет функцию мозга для мышцы руля
export const getWheelsMuscleSignal = (genome: Genome, sensors: Sensors): MuscleSignal => {
  const { wheelsFormulaCoefficients: coefficients } = decodeGenome(genome);
  const rawBrainSignal = linearPolynomial(coefficients, sensors);
  return brainToMuscleSignal(rawBrainSignal);
};

Постановка проблемы самопаркующегося автомобиля


Итак, мы свели высокоуровневую задачу самопаркующегося авто к простой задаче оптимизации, заключающейся в поиске оптимальной комбинации 180 единиц и нулей (поиске "достаточно хорошего" генома авто). Звучит просто, не так ли?

Наивный подход


Наивный подход поиска "достаточно хорошего" генома заключается в переборе всех комбинаций генов:


  1. [0, ..., 0, 0]
  2. [0, ..., 0, 1]
  3. [0, ..., 1, 0]
  4. [0, ..., 1, 1]
  5. и т.д.

Но обратимся к математике. 180 нулей или единиц дают нам 2^180 (или 1.53 * 10^54) возможных комбинаций. Допустим, проверка успешности парковки каждого авто занимает 15 сек. Допустим, мы можем запускать симуляцию для 10 авто одновременно. Тогда нам потребуется 15 * (1.53 * 10^54) / 10 = 2.29 * 10^54 [сек] или 7.36 * 10^46 [лет]. Придется ждать довольно долго. К слову, с рождения Христа прошло всего 2.021 * 10^3 [лет].


Генетический подход


Нам нужен более быстрый алгоритм поиска оптимального значения генома. Здесь в игру вступает генетический алгоритм. Мы можем не найти лучшего значения генома, но существует вероятность нахождения оптимального значения. И, что еще важнее, нам не нужно долго ждать. С помощью симулятора я нашел довольно хороший геном за 24 [часа].


Основы генетического алгоритма


Генетические алгоритмы (ГА), вдохновленные процессом естественного отбора, обычно используются для нахождения высококачественных решений задач оптимизации, полагаясь на биологически обусловленные операторы, такие как скрещивание (crossover), мутация (mutation) и отбор (selection).


Задача нахождения "достаточно хорошей" комбинации генов для каждого авто выглядит как задача оптимизации, поэтому велика вероятность того, что ГА хорошо с ней справится.


Мы не будем рассматривать ГА во всех подробностях, но на высоком уровне нам необходимо выполнить следующие шаги:


  1. СОЗДАНИЕ — самое первое поколение авто не может возникнуть из ниоткуда, поэтому мы сгенерируем набор произвольных геномов (набор бинарных массивов длиной 180). Например, мы можем создать ~1000 авто. Чем больше популяция, тем выше шансы быстро найти оптимальное решение (но тем медленнее будет выполняться программа).
  2. ОТБОР — необходимо отобрать лучших (наиболее приспособленных — fittest) особей для дальнейшего скрещивания (см. следующий шаг). Приспособленность каждой особи будет определяться функцией приспособленности (fitness function), которая в нашем случае будет показывать, насколько близко авто подобралось к парковочному месту. Чем ближе, тем лучше.
  3. СКРЕЩИВАНИЕ — простыми словами, мы позволяем "♂ авто отцам" "скрещиваться" с "♀ авто матерями" для смешения их геномов в пропорции ~50/50 и производства геномов "♂♀ авто детей". Идея в том, что дети могут быть лучше (или хуже) в парковке, получая лучшие (или худшие) биты от родителей.
  4. МУТАЦИЯ — в процессе скрещивания некоторые гены могут произвольно мутировать (1 и 0 в геноме потомка могут меняться местами). Это может привести к более широкому разнообразию геномов потомков и, как следствие, к более вариативному поведению авто. Представьте, что первый бит всех ~1000 авто был случайно установлен в 0. Единственный способ попробовать авто с первым битом, установленным в 1 — произвольные мутации. В тоже время частые мутации могут испортить хорошие геномы.
  5. Возврат к шагу 2 до тех пор, пока количество поколений не достигнет лимита (например, 100), или пока лучшие особи не достигнут ожидаемого показателя приспособленности (например, лучшее авто приблизится к парковочному месту ближе чем на 1 метр).

jip3pubxavgmjxee4akdh08ls2y.png



Развитие мозга авто с помощью генетического алгоритма


Создадим функции для каждого шага генетического алгоритма.


Функции шага создания


Функция createGeneration будет создавать массив произвольных геномов (популяцию или поколение) и будет принимать 2 параметра:


  • generationSize — размер популяции. Он будет сохраняться между поколениями
  • genomeLength — длина генома каждой особи. В нашем случае длина генома будет составлять 180

Каждый ген может быть 1 или 0 с вероятностью 50/50.


type Generation = Genome[];

type GenerationParams = {
  generationSize: number,
  genomeLength: number,
};

function createGenome(length: number): Genome {
  return new Array(length)
    .fill(null)
    .map(() => (Math.random() < 0.5 ? 0 : 1));
}

function createGeneration(params: GenerationParams): Generation {
  const { generationSize, genomeLength } = params;
  return new Array(generationSize)
    .fill(null)
    .map(() => createGenome(genomeLength));
}

Функции шага мутации


Функция mutate будет произвольно мутировать некоторые гены на основе значения mutationProbability (вероятность мутации).


Например, mutationProbability = 0.1 означает 10% вероятность, что ген будет мутирован. Допустим, у нас есть геном длиной 10, который выглядит как [0, 0, 0, 0, 0, 0 ,0 ,0 ,0 ,0]. Тогда после мутации есть шанс мутирования одного гена и получения генома, который выглядит как [0, 0, 0, 1, 0, 0 ,0 ,0 ,0 ,0].


// Число между 0 и 1
type Probability = number;

// @see: https://en.wikipedia.org/wiki/Mutation_(genetic_algorithm)
function mutate(genome: Genome, mutationProbability: Probability): Genome {
  for (let geneIndex = 0; geneIndex < genome.length; geneIndex += 1) {
    const gene: Gene = genome[geneIndex];
    const mutatedGene: Gene = gene === 0 ? 1 : 0;
    genome[geneIndex] = Math.random() < mutationProbability ? mutatedGene : gene;
  }
  return genome;
}

Функции шага скрещивания


Функция mate принимает геномы отца и матери и производит 2 потомков. В процессе скрещивания также возможна мутация (как в реальной жизни).


Каждый бит потомка будет определяться на основе значений соответствующих битов генома отца или матери. Вероятность наследования бита отца или матери составляет 50%. Допустим, у нас есть геном длиной 4 (для простоты):


Геном отца:           [0, 0, 1, 1]
Геном матери:         [0, 1, 0, 1]
                       ↓  ↓  ↓  ↓
Возможный потомок #1: [0, 1, 1, 1]
Возможный потомок #2: [0, 0, 1, 1]

В приведенном примере не учитывается мутация.


Реализация функции:


// Выполняет равномерное скрещивание: каждый бит выбирается от каждого предка с равной вероятностью
// @see: https://en.wikipedia.org/wiki/Crossover_(genetic_algorithm)
function mate(
  father: Genome,
  mother: Genome,
  mutationProbability: Probability,
): [Genome, Genome] {
  if (father.length !== mother.length) {
    throw new Error('Невозможно скрестить разные виды');
  }

  const firstChild: Genome = [];
  const secondChild: Genome = [];

  for (let geneIndex = 0; geneIndex < father.length; geneIndex += 1) {
    firstChild.push(
      Math.random() < 0.5 ? father[geneIndex] : mother[geneIndex]
    );
    secondChild.push(
      Math.random() < 0.5 ? father[geneIndex] : mother[geneIndex]
    );
  }

  return [
    mutate(firstChild, mutationProbability),
    mutate(secondChild, mutationProbability),
  ];
}

Функции шага отбора


Для выбора лучших особей нам нужен способ определения приспособленности каждого генома. Для этого мы будем использовать так называемую функцию приспособленности (фитнес-функцию).


Фитнес-функция всегда связана с конкретной решаемой задачей, она не является универсальной. В нашем случае фитнес-функция будет измерять расстояние между авто и парковочным местом. Чем ближе авто к месту, тем лучше его приспособленность. Мы реализуем фитнес-функцию немного позже, сейчас же представим для нее интерфейс:


type FitnessFunction = (genome: Genome) => number;

Допустим, у нас есть показатели приспособленности для каждой особи в популяции. Допустим также, что мы отсортировали особей по этому показателю, поэтому первая особь является самой приспособленной. Как выбирать предков из этого массива? Отбор должен выполняться таким образом, чтобы особи с более высоким показателем приспособленности чаще выбирались для скрещивания. С этим нам поможет функция weightedRandom:


// Извлекает произвольный элемент на основе его веса.
// Элементы с большим весом извлекаются чаще
const weightedRandom = <T>(items: T[], weights: number[]): { item: T, index: number } => {
  if (items.length !== weights.length) {
    throw new Error('Разное количество элементов и весов');
  }

  // Готовим массив совокупных весов.
  // Например:
  // - weights = [1, 4, 3]
  // - cumulativeWeights = [1, 5, 8]
  const cumulativeWeights: number[] = [];
  for (let i = 0; i < weights.length; i += 1) {
    cumulativeWeights[i] = weights[i] + (cumulativeWeights[i - 1] || 0);
  }

  // Получаем произвольное число в диапазоне [0...sum(weights)]
  // Например:
  // - weights = [1, 4, 3]
  // - maxCumulativeWeight = 8
  // - диапазоном для произвольного числа является [0...8]
  const maxCumulativeWeight = cumulativeWeights[cumulativeWeights.length - 1];
  const randomNumber = maxCumulativeWeight * Math.random();

  // Извлекаем произвольный элемент на основе его веса.
  // Элементы с большим весом извлекаются чаще
  for (let i = 0; i < items.length; i += 1) {
    if (cumulativeWeights[i] >= randomNumber) {
      return {
        item: items[i],
        index: i,
      };
    }
  }
  return {
    item: items[items.length - 1],
    index: items.length - 1,
  };
};

Использование этой функции довольно простое. Допустим, мы очень любим бананы и хотим есть их чаще, чем клубнику. Тогда мы вызываем const fruit = weightedRandom(['banana', 'strawberry'], [9, 1]), и в ≈9 из 10 случаев значение переменной fruit будет banana, а в ≈1 случае — strawberry.


Во избежание потери лучших особей (назовем их победителями) в процессе скрещивания добавим параметр longLivingChampionsPercentage. Например, longLivingChampionsPercentage = 10 будет означать, что 10% лучших авто будут перенесены в следующее поколение. О победителях можно думать, как об особях, которые живут долгую жизнь и видят своих детей и даже внуков.


Реализация функции select:


// Число между 0 и 100
type Percentage = number;

type SelectionOptions = {
  mutationProbability: Probability,
  longLivingChampionsPercentage: Percentage,
};

// @see: https://en.wikipedia.org/wiki/Selection_(genetic_algorithm)
function select(
  generation: Generation,
  fitness: FitnessFunction,
  options: SelectionOptions,
) {
  const {
    mutationProbability,
    longLivingChampionsPercentage,
  } = options;

  const newGeneration: Generation = [];

  const oldGeneration = [...generation];
  // Первая особь самая приспособленная
  oldGeneration.sort((genomeA: Genome, genomeB: Genome): number => {
    const fitnessA = fitness(genomeA);
    const fitnessB = fitness(genomeB);
    if (fitnessA < fitnessB) {
      return 1;
    }
    if (fitnessA > fitnessB) {
      return -1;
    }
    return 0;
  });

  // Долгожители переходят в новое поколение
  const longLiversCount = Math.floor(longLivingChampionsPercentage * oldGeneration.length / 100);
  if (longLiversCount) {
    oldGeneration.slice(0, longLiversCount).forEach((longLivingGenome: Genome) => {
      newGeneration.push(longLivingGenome);
    });
  }

  // Получаем данные о приспособленности каждой особи
  const fitnessPerOldGenome: number[] = oldGeneration.map((genome: Genome) => fitness(genome));

  // Заполняем следующее поколение до тех пор, пока оно не сравняется с предыдущим
  while (newGeneration.length < generation.length) {
    // Выбираем произвольного отца и мать из популяции.
    // Лучшие особи выбираются чаще
    let father: Genome | null = null;
    let fatherGenomeIndex: number | null = null;
    let mother: Genome | null = null;
    let matherGenomeIndex: number | null = null;

    // Для производства потомства требуется две разные особи
    while (!father || !mother || fatherGenomeIndex === matherGenomeIndex) {
      const {
        item: randomFather,
        index: randomFatherGenomeIndex,
      } = weightedRandom<Genome>(generation, fitnessPerOldGenome);

      const {
        item: randomMother,
        index: randomMotherGenomeIndex,
      } = weightedRandom<Genome>(generation, fitnessPerOldGenome);

      father = randomFather;
      fatherGenomeIndex = randomFatherGenomeIndex;

      mother = randomMother;
      matherGenomeIndex = randomMotherGenomeIndex;
    }

    // Получаем потомство
    const [firstChild, secondChild] = mate(father, mother, mutationProbability);

    newGeneration.push(firstChild);

    // В зависимости от числа долгожителей, место
    // может остаться только для одного потомка
    if (newGeneration.length < generation.length) {
      newGeneration.push(secondChild);
    }
  }

  return newGeneration;
}

Функция приспособленности


Приспособленность авто будет определяться расстоянием от авто до парковочного места. Чем больше расстояние, тем ниже приспособленность.


Итоговое расстояние будет вычисляться как среднее расстояние от 4 колес авто к соответствующим 4 углам парковочного места. Это расстояние мы будем называть loss. Оно будет обратно пропорционально fitness.


ohfieq23w83kos1ie0_am8ex9ea.png



Вычисление расстояния между каждым колесом и каждым углом отдельно (вместо вычисления расстояния от центра автомобиля до центра парковочного места) позволит автомобилю сохранять правильную ориентацию относительно места.


Расстояние между двумя точками в пространстве будет рассчитываться на основе теоремы Пифагора следующим образом:


type NumVec3 = [number, number, number];

// Вычисляет расстояние XZ между 2 точками в пространстве.
// Вертикальное расстояние Y не принимается в расчет
const euclideanDistance = (from: NumVec3, to: NumVec3) => {
  const fromX = from[0];
  const fromZ = from[2];
  const toX = to[0];
  const toZ = to[2];
  return Math.sqrt((fromX - toX) ** 2 + (fromZ - toZ) ** 2);
};

Расстояние (loss) между автомобилем и парковочным местом будет рассчитываться так:


type RectanglePoints = {
  fl: NumVec3, // передний левый угол
  fr: NumVec3, // передний правый
  bl: NumVec3, // задний левый
  br: NumVec3, // задний правый
};

type GeometricParams = {
  wheelsPosition: RectanglePoints,
  parkingLotCorners: RectanglePoints,
};

const carLoss = (params: GeometricParams): number => {
  const { wheelsPosition, parkingLotCorners } = params;

  const {
    fl: flWheel,
    fr: frWheel,
    br: brWheel,
    bl: blWheel,
  } = wheelsPosition;

  const {
    fl: flCorner,
    fr: frCorner,
    br: brCorner,
    bl: blCorner,
  } = parkingLotCorners;

  const flDistance = euclideanDistance(flWheel, flCorner);
  const frDistance = euclideanDistance(frWheel, frCorner);
  const brDistance = euclideanDistance(brWheel, brCorner);
  const blDistance = euclideanDistance(blWheel, blCorner);

  return (flDistance + frDistance + brDistance + blDistance) / 4;
};

Поскольку fitness должна быть обратно пропорциональна loss, она рассчитывается следующим образом:


const carFitness = (params: GeometricParams): number => {
  const loss = carLoss(params);
  // Добавляем 1 во избежание деления на 0
  return 1 / (loss + 1);
};

Значения fitness и loss для конкретного генома и текущего положения авто можно увидеть на панели инструментов симулятора:


n-z6dog51djwyiuz_nl-a5c-obg.png



Запуск эволюции


Объединим функции эволюции. Мы собираемся "создать мир", запустить цикл эволюции, заставить время течь, поколение развиваться, а авто учиться парковаться.


Чтобы получить показатели приспособленности каждого авто, нам нужно запустить симуляцию в виртуальном трехмерном мире. Симулятор эволюции делает именно это — он запускает приведенный ниже код в симуляторе, созданном с помощью Three.js:


// Пример настройки эволюции.
// Настройки устанавливаются в симуляторе
const GENERATION_SIZE = 1000;
const LONG_LIVING_CHAMPIONS_PERCENTAGE = 6;
const MUTATION_PROBABILITY = 0.04;
const MAX_GENERATIONS_NUM = 40;

// Функция приспособленности.
// Это похоже на ежегодный осмотр авто у врача
const carFitnessFunction = (genome: Genome): number => {
  // Симулятор вычисляет и сохраняет показатели приспособленности каждого авто в карте `fitnessValues`.
  // Здесь мы просто получаем предварительно вычисленное значение для авто в текущем поколении
  const genomeKey = genome.join('');
  return fitnessValues[genomeKey];
};

// Создаем "мир" с первым поколением авто
let generationIndex = 0;
let generation: Generation = createGeneration({
  generationSize: GENERATION_SIZE,
  genomeLength: GENOME_LENGTH, // <- 180 генов
});

// Запускаем "время"
while (generationIndex < MAX_GENERATIONS_NUM) {
  // ЗДЕСЬ НЕОБХОДИМО МОДЕЛИРОВАНИЕ, чтобы предварительно рассчитать показатели приспособленности.

  // Отбор, скрещивание и мутирование текущего поколения
  generation = select(
    generation,
    carFitnessFunction,
    {
      mutationProbability: MUTATION_PROBABILITY,
      longLivingChampionsPercentage: LONG_LIVING_CHAMPIONS_PERCENTAGE,
    },
  );

  // Заставляем "время" течь
  generationIndex += 1;
}

// Получаем лучшую особь последнего поколения
const fittestCar = generation[0];

После запуска функции select массив generation сортируется по значениям приспособленности в порядке убывания. Таким образом, наиболее приспособленное авто всегда будет первым в массиве.


Первое поколение авто с произвольными геномами будет вести себя примерно так:


8gbsullqgo6q2vikath_8qrhuim.gif



Примерно на сороковом поколении авто начинают понимать, что такое авто-парковка, и начинают приближаться к парковочному месту:


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Другой пример с более сложной отправной точкой:


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Авто по пути сталкиваются с другими авто, а также не идеально паркуются, но это всего лишь 40 поколение, так что дайте авто еще немного времени на обучение.


Из поколения в поколение мы видим, как значения loss снижаются (что означает, что значения fitness растут). P50 Avg Loss показывает среднее значение loss (среднее расстояние от авто до места парковки) для 50% наиболее приспособленных авто. Min Loss показывает значение loss самого приспособленного авто в каждом поколении.


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Видно, что в среднем 50% самых приспособленных авто поколения учатся приближаться к парковочному месту (от 5,5 м до 3,5 м за 35 поколений). Тенденция значений Min Loss менее очевидна (от 1 м до 0,5 м с некоторым шумом), однако на приведенной выше анимации видно, что авто выучили некоторые основные движения для парковки.


Заключение


В этой статье мы свели задачу высокого уровня по созданию самопаркующегося авто к простой задаче низкого уровня по поиску оптимальной комбинации 180 единиц и нулей (поиск оптимального генома автомобиля).


Затем мы применили генетический алгоритм для нахождения оптимального генома авто. Это позволило нам получить довольно хорошие результаты за несколько часов моделирования (вместо многих лет в случае использования наивного подхода).


Вы можете запустить симулятор, чтобы увидеть процесс эволюции прямо в браузере. Он предоставляет следующие возможности:



Полный исходный код, показанный в этой статье, можно найти в этом репозитории.


Проблемы и нерешенные задачи:


  • мозг авто слишком упрощен и использует линейные уравнения вместо, скажем, нейронных сетей. Это делает авто неспособным адаптироваться к новому окружению или новым типам парковок
  • значение приспособленности авто не уменьшается, когда оно врезается в другое авто. Поэтому авто не "чувствует" никакой вины за ДТП
  • симулятор эволюции нестабилен. Это означает, что один и тот же геном авто может давать разные значения приспособленности, что делает эволюцию менее эффективной
  • симулятор эволюции также очень тяжел с точки зрения производительности, что замедляет процесс эволюции, поскольку мы не можем обучать, скажем, 1000 авто одновременно
  • кроме того, для моделирования эволюции симулятору требуется, чтобы вкладка браузера была открыта и активна
  • и др.

Однако цель этой статьи заключалась в том, чтобы немного развлечься, изучая, как работает генетический алгоритм, а не в том, чтобы создать готовую к производству беспилотную Tesla. Итак, даже несмотря на упомянутые выше проблемы, я надеюсь, что вы хорошо провели время, читая эту статью.


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Новости, обзоры продуктов и конкурсы от команды Timeweb.Cloud — в нашем Telegram-канале ↩

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  • 07.09.23 16:24 CherryTeam

    Cherry Team atlyginimų skaičiavimo programa yra labai naudingas įrankis įmonėms, kai reikia efektyviai valdyti ir skaičiuoti darbuotojų atlyginimus. Ši programinė įranga, turinti išsamias funkcijas ir patogią naudotojo sąsają, suteikia daug privalumų, kurie padeda supaprastinti darbo užmokesčio skaičiavimo procesus ir pagerinti finansų valdymą. Štai keletas pagrindinių priežasčių, kodėl Cherry Team atlyginimų skaičiavimo programa yra naudinga įmonėms: Automatizuoti ir tikslūs skaičiavimai: Atlyginimų skaičiavimai rankiniu būdu gali būti klaidingi ir reikalauti daug laiko. Programinė įranga Cherry Team automatizuoja visą atlyginimų skaičiavimo procesą, todėl nebereikia atlikti skaičiavimų rankiniu būdu ir sumažėja klaidų rizika. Tiksliai apskaičiuodama atlyginimus, įskaitant tokius veiksnius, kaip pagrindinis atlyginimas, viršvalandžiai, premijos, išskaitos ir mokesčiai, programa užtikrina tikslius ir be klaidų darbo užmokesčio skaičiavimo rezultatus. Sutaupoma laiko ir išlaidų: Darbo užmokesčio valdymas gali būti daug darbo jėgos reikalaujanti užduotis, reikalaujanti daug laiko ir išteklių. Programa Cherry Team supaprastina ir pagreitina darbo užmokesčio skaičiavimo procesą, nes automatizuoja skaičiavimus, generuoja darbo užmokesčio žiniaraščius ir tvarko išskaičiuojamus mokesčius. Šis automatizavimas padeda įmonėms sutaupyti daug laiko ir pastangų, todėl žmogiškųjų išteklių ir finansų komandos gali sutelkti dėmesį į strategiškai svarbesnę veiklą. Be to, racionalizuodamos darbo užmokesčio operacijas, įmonės gali sumažinti administracines išlaidas, susijusias su rankiniu darbo užmokesčio tvarkymu. Mokesčių ir darbo teisės aktų laikymasis: Įmonėms labai svarbu laikytis mokesčių ir darbo teisės aktų, kad išvengtų baudų ir teisinių problemų. Programinė įranga Cherry Team seka besikeičiančius mokesčių įstatymus ir darbo reglamentus, užtikrindama tikslius skaičiavimus ir teisinių reikalavimų laikymąsi. Programa gali dirbti su sudėtingais mokesčių scenarijais, pavyzdžiui, keliomis mokesčių grupėmis ir įvairių rūšių atskaitymais, todėl užtikrina atitiktį reikalavimams ir kartu sumažina klaidų riziką. Ataskaitų rengimas ir analizė: Programa Cherry Team siūlo patikimas ataskaitų teikimo ir analizės galimybes, suteikiančias įmonėms vertingų įžvalgų apie darbo užmokesčio duomenis. Ji gali generuoti ataskaitas apie įvairius aspektus, pavyzdžiui, darbo užmokesčio paskirstymą, išskaičiuojamus mokesčius ir darbo sąnaudas. Šios ataskaitos leidžia įmonėms analizuoti darbo užmokesčio tendencijas, nustatyti tobulintinas sritis ir priimti pagrįstus finansinius sprendimus. Pasinaudodamos duomenimis pagrįstomis įžvalgomis, įmonės gali optimizuoti savo darbo užmokesčio strategijas ir veiksmingai kontroliuoti išlaidas. Integracija su kitomis sistemomis: Cherry Team programinė įranga dažnai sklandžiai integruojama su kitomis personalo ir apskaitos sistemomis. Tokia integracija leidžia automatiškai perkelti atitinkamus duomenis, pavyzdžiui, informaciją apie darbuotojus ir finansinius įrašus, todėl nebereikia dubliuoti duomenų. Supaprastintas duomenų srautas tarp sistemų padidina bendrą efektyvumą ir sumažina duomenų klaidų ar neatitikimų riziką. Cherry Team atlyginimų apskaičiavimo programa įmonėms teikia didelę naudą - automatiniai ir tikslūs skaičiavimai, laiko ir sąnaudų taupymas, atitiktis mokesčių ir darbo teisės aktų reikalavimams, ataskaitų teikimo ir analizės galimybės bei integracija su kitomis sistemomis. Naudodamos šią programinę įrangą įmonės gali supaprastinti darbo užmokesčio skaičiavimo procesus, užtikrinti tikslumą ir atitiktį reikalavimams, padidinti darbuotojų pasitenkinimą ir gauti vertingų įžvalgų apie savo finansinius duomenis. Programa Cherry Team pasirodo esanti nepakeičiamas įrankis įmonėms, siekiančioms efektyviai ir veiksmingai valdyti darbo užmokestį. https://cherryteam.lt/lt/

  • 08.10.23 01:30 davec8080

    The "Shibarium for this confirmed rug pull is a BEP-20 project not related at all to Shibarium, SHIB, BONE or LEASH. The Plot Thickens. Someone posted the actual transactions!!!! https://bscscan.com/tx/0xa846ea0367c89c3f0bbfcc221cceea4c90d8f56ead2eb479d4cee41c75e02c97 It seems the article is true!!!! And it's also FUD. Let me explain. Check this link: https://bscscan.com/token/0x5a752c9fe3520522ea88f37a41c3ddd97c022c2f So there really is a "Shibarium" token. And somebody did a rug pull with it. CONFIRMED. But the "Shibarium" token for this confirmed rug pull is a BEP-20 project not related at all to Shibarium, SHIB, BONE or LEASH.

  • 24.06.24 04:31 tashandiarisha

    Web-site. https://trustgeekshackexpert.com/ Tele-Gram, trustgeekshackexpert During the pandemic, I ventured into the world of cryptocurrency trading. My father loaned me $10,000, which I used to purchase my first bitcoins. With diligent research and some luck, I managed to grow my investment to over $350,000 in just a couple of years. I was thrilled with my success, but my excitement was short-lived when I decided to switch brokers and inadvertently fell victim to a phishing attack. While creating a new account, I received what seemed like a legitimate email requesting verification. Without second-guessing, I provided my information, only to realize later that I had lost access to my email and cryptocurrency wallets. Panic set in as I watched my hard-earned assets disappear before my eyes. Desperate to recover my funds, I scoured the internet for solutions. That's when I stumbled upon the Trust Geeks Hack Expert on the Internet. The service claimed to specialize in recovering lost crypto assets, and I decided to take a chance. Upon contacting them, the team swung into action immediately. They guided me through the entire recovery process with professionalism and efficiency. The advantages of using the Trust Geeks Hack Expert Tool became apparent from the start. Their team was knowledgeable and empathetic, understanding the urgency and stress of my situation. They employed advanced security measures to ensure my information was handled safely and securely. One of the key benefits of the Trust Geeks Hack Expert Tool was its user-friendly interface, which made a complex process much more manageable for someone like me, who isn't particularly tech-savvy. They also offered 24/7 support, so I never felt alone during recovery. Their transparent communication and regular updates kept me informed and reassured throughout. The Trust Geeks Hack Expert Tool is the best solution for anyone facing similar issues. Their swift response, expertise, and customer-centric approach set them apart from other recovery services. Thanks to their efforts, I regained access to my accounts and my substantial crypto assets. The experience taught me a valuable lesson about online security and showed me the incredible potential of the Trust Geeks Hack Expert Tool. Email:: trustgeekshackexpert{@}fastservice{.}com WhatsApp  + 1.7.1.9.4.9.2.2.6.9.3

  • 26.06.24 18:46 Jacobethannn098

    LEGAL RECOUP FOR CRYPTO THEFT BY ADRIAN LAMO HACKER

  • 26.06.24 18:46 Jacobethannn098

    Reach Out To Adrian Lamo Hacker via email: [email protected] / WhatsApp: ‪+1 (909) 739‑0269‬ Adrian Lamo Hacker is a formidable force in the realm of cybersecurity, offering a comprehensive suite of services designed to protect individuals and organizations from the pervasive threat of digital scams and fraud. With an impressive track record of recovering over $950 million, including substantial sums from high-profile scams such as a $600 million fake investment platform and a $1.5 million romance scam, Adrian Lamo Hacker has established itself as a leader in the field. One of the key strengths of Adrian Lamo Hacker lies in its unparalleled expertise in scam detection. The company leverages cutting-edge methodologies to defend against a wide range of digital threats, including phishing emails, fraudulent websites, and deceitful schemes. This proactive approach to identifying and neutralizing potential scams is crucial in an increasingly complex and interconnected digital landscape. Adrian Lamo Hacker's tailored risk assessments serve as a powerful tool for fortifying cybersecurity. By identifying vulnerabilities and potential points of exploitation, the company empowers its clients to take proactive measures to strengthen their digital defenses. This personalized approach to risk assessment ensures that each client receives targeted and effective protection against cyber threats. In the event of a security incident, Adrian Lamo Hacker's rapid incident response capabilities come into play. The company's vigilant monitoring and swift mitigation strategies ensure that any potential breaches or scams are addressed in real-time, minimizing the impact on its clients' digital assets and reputation. This proactive stance towards incident response is essential in an era where cyber threats can materialize with alarming speed and sophistication. In addition to its robust defense and incident response capabilities, Adrian Lamo Hacker is committed to empowering its clients to recognize and thwart common scam tactics. By fostering enlightenment in the digital realm, the company goes beyond simply safeguarding its clients; it equips them with the knowledge and awareness needed to navigate the digital landscape with confidence and resilience. Adrian Lamo Hacker services extend to genuine hacking, offering an additional layer of protection for its clients. This may include ethical hacking or penetration testing, which can help identify and address security vulnerabilities before malicious actors have the chance to exploit them. By offering genuine hacking services, Adrian Lamo Hacker demonstrates its commitment to providing holistic cybersecurity solutions that address both defensive and offensive aspects of digital protection. Adrian Lamo Hacker stands out as a premier provider of cybersecurity services, offering unparalleled expertise in scam detection, rapid incident response, tailored risk assessments, and genuine hacking capabilities. With a proven track record of recovering significant sums from various scams, the company has earned a reputation for excellence in combating digital fraud. Through its proactive and empowering approach, Adrian Lamo Hacker is a true ally for individuals and organizations seeking to navigate the digital realm with confidence.

  • 04.07.24 04:49 ZionNaomi

    For over twenty years, I've dedicated myself to the dynamic world of marketing, constantly seeking innovative strategies to elevate brand visibility in an ever-evolving landscape. So when the meteoric rise of Bitcoin captured my attention as a potential avenue for investment diversification, I seized the opportunity, allocating $20,000 to the digital currency. Witnessing my investment burgeon to an impressive $70,000 over time instilled in me a sense of financial promise and stability.However, amidst the euphoria of financial growth, a sudden and unforeseen oversight brought me crashing back to reality during a critical business trip—I had misplaced my hardware wallet. The realization that I had lost access to the cornerstone of my financial security struck me with profound dismay. Desperate for a solution, I turned to the expertise of Daniel Meuli Web Recovery.Their response was swift . With meticulous precision, they embarked on the intricate process of retracing the elusive path of my lost funds. Through their unwavering dedication, they managed to recover a substantial portion of my investment, offering a glimmer of hope amidst the shadows of uncertainty. The support provided by Daniel Meuli Web Recovery extended beyond mere financial restitution. Recognizing the imperative of fortifying against future vulnerabilities, they generously shared invaluable insights on securing digital assets. Their guidance encompassed crucial aspects such as implementing hardware wallet backups and fortifying security protocols, equipping me with recovered funds and newfound knowledge to navigate the digital landscape securely.In retrospect, this experience served as a poignant reminder of the critical importance of diligence and preparedness in safeguarding one's assets. Thanks to the expertise and unwavering support extended by Daniel Meuli Web Recovery, I emerged from the ordeal with renewed resilience and vigilance. Empowered by their guidance and fortified by enhanced security measures, I now approach the future with unwavering confidence.The heights of financial promise to the depths of loss and back again has been a humbling one, underscoring the volatility and unpredictability inherent in the digital realm. Yet, through adversity, I have emerged stronger, armed with a newfound appreciation for the importance of diligence, preparedness, and the invaluable support of experts like Daniel Meuli Web Recovery.As I persist in traversing the digital landscape, I do so with a judicious blend of vigilance and fortitude, cognizant that with adequate safeguards and the backing of reliable confidants, I possess the fortitude to withstand any adversity that may arise. For this, I remain eternally appreciative. Email Danielmeuliweberecovery @ email . c om WhatsApp + 393 512 013 528

  • 13.07.24 21:13 michaelharrell825

    In 2020, amidst the economic fallout of the pandemic, I found myself unexpectedly unemployed and turned to Forex trading in hopes of stabilizing my finances. Like many, I was drawn in by the promise of quick returns offered by various Forex robots, signals, and trading advisers. However, most of these products turned out to be disappointing, with claims that were far from reality. Looking back, I realize I should have been more cautious, but the allure of financial security clouded my judgment during those uncertain times. Amidst these disappointments, Profit Forex emerged as a standout. Not only did they provide reliable service, but they also delivered tangible results—a rarity in an industry often plagued by exaggerated claims. The positive reviews from other users validated my own experience, highlighting their commitment to delivering genuine outcomes and emphasizing sound financial practices. My journey with Profit Forex led to a net profit of $11,500, a significant achievement given the challenges I faced. However, my optimism was short-lived when I encountered obstacles trying to withdraw funds from my trading account. Despite repeated attempts, I found myself unable to access my money, leaving me frustrated and uncertain about my financial future. Fortunately, my fortunes changed when I discovered PRO WIZARD GIlBERT RECOVERY. Their reputation for recovering funds from fraudulent schemes gave me hope in reclaiming what was rightfully mine. With a mixture of desperation and cautious optimism, I reached out to them for assistance. PRO WIZARD GIlBERT RECOVERY impressed me from the start with their professionalism and deep understanding of financial disputes. They took a methodical approach, using advanced techniques to track down the scammers responsible for withholding my funds. Throughout the process, their communication was clear and reassuring, providing much-needed support during a stressful period. Thanks to PRO WIZARD GIlBERT RECOVERY's expertise and unwavering dedication, I finally achieved a resolution to my ordeal. They successfully traced and retrieved my funds, restoring a sense of justice and relief. Their intervention not only recovered my money but also renewed my faith in ethical financial services. Reflecting on my experience, I've learned invaluable lessons about the importance of due diligence and discernment in navigating the Forex market. While setbacks are inevitable, partnering with reputable recovery specialists like PRO WIZARD GIlBERT RECOVERY can make a profound difference. Their integrity and effectiveness have left an indelible mark on me, guiding my future decisions and reinforcing the value of trustworthy partnerships in achieving financial goals. I wholeheartedly recommend PRO WIZARD GIlBERT RECOVERY to anyone grappling with financial fraud or disputes. Their expertise and commitment to client satisfaction are unparalleled, offering a beacon of hope in challenging times. Thank you, PRO WIZARD GIlBERT RECOVERY, for your invaluable assistance in reclaiming what was rightfully mine. Your service not only recovered my funds but also restored my confidence in navigating the complexities of financial markets with greater caution and awareness. Email: prowizardgilbertrecovery(@)engineer.com Homepage: https://prowizardgilbertrecovery.xyz WhatsApp: +1 (516) 347‑9592

  • 17.07.24 02:26 thompsonrickey

    In the vast and often treacherous realm of online investments, I was entangled in a web of deceit that cost me nearly  $45,000. It all started innocuously enough with an enticing Instagram profile promising lucrative returns through cryptocurrency investment. Initially, everything seemed promising—communications were smooth, and assurances were plentiful. However, as time passed, my optimism turned to suspicion. Withdrawal requests were met with delays and excuses. The once-responsive "investor" vanished into thin air, leaving me stranded with dwindling hopes and a sinking feeling in my gut. It became painfully clear that I had been duped by a sophisticated scheme designed to exploit trust and naivety. Desperate to recover my funds, I turned to online forums where I discovered numerous testimonials advocating for Muyern Trust Hacker. With nothing to lose, I contacted them, recounting my ordeal with a mixture of skepticism and hope. Their swift response and professional demeanor immediately reassured me that I had found a lifeline amidst the chaos. Muyern Trust Hacker wasted no time in taking action. They meticulously gathered evidence, navigated legal complexities, and deployed their expertise to expedite recovery. In what felt like a whirlwind of activity, although the passage of time was a blur amidst my anxiety, they achieved the seemingly impossible—my stolen funds were returned. The relief I felt was overwhelming. Muyern Trust Hacker not only restored my financial losses but also restored my faith in justice. Their commitment to integrity and their relentless pursuit of resolution were nothing short of remarkable. They proved themselves as recovery specialists and guardians against digital fraud, offering hope to victims like me who had been ensnared by deception. My gratitude knows no bounds for Muyern Trust Hacker. Reach them at muyerntrusted @ m a i l - m e . c o m AND Tele gram @ muyerntrusthackertech

  • 18.07.24 20:13 austinagastya

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  • 27.08.24 12:50 James889900

    All you need is to hire an expert to help you accomplish that. If there’s any need to spy on your partner’s phone. From my experience I lacked evidence to confront my husband on my suspicion on his infidelity, until I came across ETHICALAHCKERS which many commend him of assisting them in their spying mission. So I contacted him and he provided me with access into his phone to view all text messages, call logs, WhatsApp messages and even her location. This evidence helped me move him off my life . I recommend you consult ETHICALHACKERS009 @ gmail.com OR CALL/TEXT ‪+1(716) 318-5536 or whatsapp +14106350697 if you need access to your partner’s phone

  • 27.08.24 13:06 James889900

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  • 02.09.24 20:24 [email protected]

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  • 06.09.24 01:35 Celinagarcia

    HOW TO RECOVER MONEY LOST IN BITCOIN/USDT TRADING OR TO CRYPTO INVESTMENT !! Hi all, friends and families. I am writing From Alberton Canada. Last year I tried to invest in cryptocurrency trading in 2023, but lost a significant amount of money to scammers. I was cheated of my money, but thank God, I was referred to Hack Recovery Wizard they are among the best bitcoin recovery specialists on the planet. they helped me get every penny I lost to the scammers back to me with their forensic techniques. and I would like to take this opportunity to advise everyone to avoid making cryptocurrency investments online. If you ​​​​​​have already lost money on forex, cryptocurrency or Ponzi schemes, please contact [email protected] or WhatsApp: +1 (757) 237–1724 at once they can help you get back the crypto you lost to scammers. BEST WISHES. Celina Garcia.

  • 06.09.24 01:44 Celinagarcia

    HOW TO RECOVER MONEY LOST IN BITCOIN/USDT TRADING OR TO CRYPTO INVESTMENT !! Hi all, friends and families. I am writing From Alberton Canada. Last year I tried to invest in cryptocurrency trading in 2023, but lost a significant amount of money to scammers. I was cheated of my money, but thank God, I was referred to Hack Recovery Wizard they are among the best bitcoin recovery specialists on the planet. they helped me get every penny I lost to the scammers back to me with their forensic techniques. and I would like to take this opportunity to advise everyone to avoid making cryptocurrency investments online. If you ​​​​​​have already lost money on forex, cryptocurrency or Ponzi schemes, please contact [email protected] or WhatsApp: +1 (757) 237–1724 at once they can help you get back the crypto you lost to scammers. BEST WISHES. Celina Garcia.

  • 16.09.24 00:10 marcusaustin

    Bitcoin Recovery Services: Restoring Lost Cryptocurrency If you've lost access to your cryptocurrency and unable to make a withdrawal, I highly recommend iBolt Cyber Hacker Bitcoin Recovery Services. Their team is skilled, professional, and efficient in recovering lost Bitcoin. They provide clear communication, maintain high security standards, and work quickly to resolve issues. Facing the stress of lost cryptocurrency, iBolt Cyber Hacker is a trusted service that will help you regain access to your funds securely and reliably. Highly recommended! Email: S u p p o r t @ ibolt cyber hack . com Cont/Whtp + 3. .9 .3. .5..0. .9. 2. 9. .0 .3. 1 .8. Website: h t t p s : / / ibolt cyber hack . com /

  • 16.09.24 00:11 marcusaustin

    Bitcoin Recovery Services: Restoring Lost Cryptocurrency If you've lost access to your cryptocurrency and unable to make a withdrawal, I highly recommend iBolt Cyber Hacker Bitcoin Recovery Services. Their team is skilled, professional, and efficient in recovering lost Bitcoin. They provide clear communication, maintain high security standards, and work quickly to resolve issues. Facing the stress of lost cryptocurrency, iBolt Cyber Hacker is a trusted service that will help you regain access to your funds securely and reliably. Highly recommended! Email: S u p p o r t @ ibolt cyber hack . com Cont/Whtp + 3. .9 .3. .5..0. .9. 2. 9. .0 .3. 1 .8. Website: h t t p s : / / ibolt cyber hack . com /

  • 23.09.24 18:56 matthewshimself

    At first, I was admittedly skeptical about Worldcoin (ref: https://worldcoin.org/blog/worldcoin/this-is-worldcoin-video-explainer-series), particularly around the use of biometric data and the WLD token as a reward mechanism for it. However, after following the project closer, I’ve come to appreciate the broader vision and see the value in the underlying tech behind it. The concept of Proof of Personhood (ref: https://worldcoin.org/blog/worldcoin/proof-of-personhood-what-it-is-why-its-needed) has definitely caught my attention, and does seem like a crucial step towards tackling growing issues like bots, deepfakes, and identity fraud. Sam Altman’s vision is nothing short of ambitious, but I do think he & Alex Blania have the chops to realize it as mainstay in the global economy.

  • 01.10.24 14:54 Sinewclaudia

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  • 31.10.24 00:13 ytre89

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    If I hadn't found a review online and filed a complaint via email to support@deftrecoup. com , the people behind this unregulated scheme would have gotten away with leaving me in financial ruins. It was truly the most difficult period of my life.

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  • 27.11.24 09:10 Michal Novotny

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  • 04.12.24 22:24 andreygagloev

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  • 12.12.24 00:35 amandagregory

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  • 08.02.25 05:45 [email protected]

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  • 13.02.25 14:45 aoifewalsh130

    TELEGRAM: u/BestwebwizardRecovery EMAIL: [email protected] WEBSITE: https://bestwebwizrecovery.com/ The money I invested was meant for something incredibly important—my wedding. After months of saving, I had finally accumulated enough to make the day truly special. Wanting to grow this fund, I came across a crypto site called Abcfxb.pro, which promised daily returns through “AI crypto arbitrage trading.” They claimed they could deliver 1% returns on my investment every day, and I saw this as an opportunity to multiply my savings quickly. I thought it was the perfect way to ensure I’d have enough to cover all the wedding expenses. For the first few days, everything seemed perfect. I saw the promised returns and was able to withdraw money without any issues. It felt like a legitimate opportunity, and I was excited as my wedding fund grew. However, things took a turn when I tried to withdraw again. The site claimed that my account balance had fallen below their liquidity requirement and asked me to deposit more funds to proceed. Reluctantly, I deposited more money, believing it was just a minor issue. But the situation only worsened. I was then told that my withdrawal would take 50 days due to “blockchain congestion.” I wasn’t too concerned at first, thinking it was just a delay. But after 50 days, I still hadn’t received my funds, and they gave me the same excuse. Desperate, I contacted the site again, only to be informed that I would need to pay a 15% fee for “technical support” from the “Federal Reserve’s blockchain regulator” before I could withdraw my money. By now, I realized I had fallen victim to a scam. As I researched further, I found that others had been scammed in the same way, and the scammers had moved to another site with nearly the same layout. It was then that I came across a review from another victim, who explained how Best Web Wizard Recovery had helped him recover his lost funds. Desperate for a solution, I reached out to Best Web Wizard Recovery. To my relief, they responded quickly and professionally. Within six hours, they had successfully recovered my full investment. I was beyond grateful, especially since the money had been intended for my wedding. Thanks to their help, I was able to not only get my money back but also go ahead with my wedding as planned. It was a day I will always cherish, and I owe it to Best Web Wizard Recovery for helping me make it a reality. I highly recommend their services to anyone who has fallen victim to a crypto scam.

  • 13.02.25 16:50 andytom798

    I lost $210,000 worth of Bitcoin to a group of fake blockchain impostors on Red note, a Chinese app. They contacted me, pretending to be official blockchain support, and I was misled into believing they were legitimate. At the time, I had been saving up in Bitcoin, hoping to take advantage of the rising market. The scammers were convincing, and I made the mistake of trusting them with access to my blockchain wallet. To my shock and disbelief, they stole a total of $10,000 worth of Bitcoin from my wallet. It was devastating, as this amount represented all of my hard-earned savings. I was in utter disbelief, feeling foolish for falling for their deceptive tactics. I felt lost, as though everything I had worked towards was taken from me in an instant. Thankfully, my uncle suggested I reach out to an expert in cryptocurrency recovery. After doing some research online, I came across CYBERPOINT RECOVERY COMPANY. I was hesitant at first, but their positive reviews gave me some hope. I decided to contact them directly and explained my situation, including the amount I had lost and how the scammers had gained access to my account. To my relief, the team at CYBERPOINT RECOVERY responded quickly and assured me they could help. They launched a detailed recovery program, using advanced tools and techniques to trace the stolen Bitcoin. Within a matter of days, they successfully recovered my full $210,000 worth of Bitcoin, and they even identified the individuals behind the scam. Their expertise and professionalism made a huge difference, and I was incredibly grateful for their support. If you find yourself in a similar situation, I highly recommend reaching out to Cyber Constable Intelligence. They helped me recover my funds when I thought all hope was lost. Whether you’ve lost money to scammers or any other form of online fraud, they have the knowledge and resources to help you get your funds back. Don’t give up there are experts who can help you reclaim what you’ve lost. I’m sharing my story to hopefully guide others who are going through something similar. Here's Their Info Below ([email protected]) or W.H.A.T.S.A.P.P:+1.7.6.0.9.2.3.7.4.0.7

  • 13.02.25 16:52 birenderkumar20101

    I was able to reclaim my lost Bitcoin assets worth of $480,99 which i had lost to the scam company known as Capitalix fx a scam company pretending to be an investment platform which alot of people including myself have lost their funds to, sadly not all would be fortunate enough to retrieve back their funds like I did but if you’re reading this today then you’re already a step closer towards regaining your lost digital assets, CYBERPOINT RECOVERY COMPANY successfully retrieved back my funds in less than of 48hours after I sought for their help to get back my funds. This experience has taught me the importance of carrying out my due diligence before embracing any financial opportunity presented to me and while risk taking may be a part of the journey, some risks are not worth taking and never again will I involve myself with any online financial investment. It’s only right that we seek for external intervention and support of a higher knowledge system when it comes to digital assets recovery, Get in contact today with the team to get started on Email: ([email protected])

  • 13.02.25 17:37 eunice49954

    Agent Jasmine Lopez focuses on recovering stolen cryptocurrency, particularly USDT. She is well-known for helping victims of digital asset theft. Her reputation arises from successful recoveries that have allowed many to regain their lost funds. I witnessed this when $122,000 was taken from me. Thanks to Ms. Lopez's skills, I recovered the entire amount in just 24 hours. Her prompt response and effective methods relieved my financial burden. Ms. Lopez’s commitment to helping others is evident. She is always available to offer solutions to those facing similar problems. For assistance, she can be reached via email at recoveryfundprovider@gmail . com or contacted directly on WhatsApp and text at +44 - 7366 445035. Her Instagram handle is recoveryfundprovider.

  • 14.02.25 02:50 Vladimir876

    I was able to reclaim my lost Bitcoin assets worth of $480,99 which i had lost to the scam company known as Capitalix fx a scam company pretending to be an investment platform which alot of people including myself have lost their funds to, sadly not all would be fortunate enough to retrieve back their funds like I did but if you’re reading this today then you’re already a step closer towards regaining your lost digital assets, CYBERPOINT RECOVERY COMPANY successfully retrieved back my funds in less than of 48hours after I sought for their help to get back my funds. This experience has taught me the importance of carrying out my due diligence before embracing any financial opportunity presented to me and while risk taking may be a part of the journey, some risks are not worth taking and never again will I involve myself with any online financial investment. It’s only right that we seek for external intervention and support of a higher knowledge system when it comes to digital assets recovery, Get in contact today with the team to get started on Email: ([email protected]) or W.H.A.T.S.A.P.P:+1.7.6.0.9.2.3.7.4.0.7

  • 14.02.25 02:56 christophadelbert3

    Я был в полном смятении, когда потерял все свои сбережения, инвестируя в криптовалюту. Со мной связалась онлайн женщина по электронной почте, выдавая себя за менеджера по работе с клиентами банка, которая сказала мне, что я могу удвоить свои сбережения, инвестируя в криптовалюту. Я никогда не думал, что это будет мошенничество, и я потеряю все. Это продолжалось неделями, пока я не понял, что меня обманули. Вся надежда была потеряна, я был опустошен и разорен, к счастью для меня, я наткнулся на статью в моем местном бюллетене о CYBERPUNK RECOVERY Bitcoin Recovery. Я связался с ними и предоставил всю информацию по моему делу. Я был поражен тем, как быстро они вернули мои криптовалютные средства и смогли отследить этих мошенников. Я действительно благодарен за их услуги и рекомендую CYBERPUNK RECOVERY всем, кому нужно вернуть свои средства. Настоятельно рекомендую вам связаться с CYBERPUNK, если вы потеряли свои биткойны USDT или ETH из-за инвестиций в биткойны Электронная почта: ([email protected]) W.h.a.t.s.A.p.p (+.1.7.6.0.9.2.3.7.4.0.7)

  • 14.02.25 02:56 christophadelbert3

    I was in total dismay when I lost my entire savings investing in cryptocurrency, I was contacted online by a lady through email pretending to be an account manager of a bank, who told me I could make double my savings through cryptocurrency investment, I never imagined it would be a scam and I was going to lose everything. It went on for weeks until I realized that I have been scammed. All hope was lost, I was devastated and broke, fortunately for me, I came across an article on my local bulletin about CYBERPUNK RECOVERY Bitcoin Recovery, I contacted them and provided all the information regarding my case, I was amazed at how quickly they recovered my cryptocurrency funds and was able to trace down those scammers. I’m truly grateful for their service and I recommend CYBERPUNK RECOVERY to everyone who needs to recover their funds urge you to contact CYBERPUNK if you have lost your bitcoin USDT or ETH through bitcoin investment Email: ([email protected]) WhatsApp (+17609237407)

  • 14.02.25 15:33 prelogmilivoj

    I never imagined I would find myself in a situation where I was scammed out of such a significant amount of money, but it happened. I became a victim of a fake online donation project that cost me over $30,000. It all started innocently enough when I was searching for assistance after a devastating fire incident in California. While looking for support, I came across an advertisement that seemed to offer donations for fire victims. The ad appeared legitimate, and I reached out to the project manager to inquire about how to receive the donations. The manager was very convincing and insisted that in order to qualify for the donations, I needed to pay $30,000 upfront. In return, I was promised $1 million in donations. It sounded a bit too good to be true, but in my desperate situation, I made the mistake of believing it. The thought of receiving a substantial amount of help to rebuild after the fire clouded my judgment, and I went ahead and sent the money. However, after transferring the funds, the promised donations never arrived, and the manager disappeared. That’s when I realized I had been scammed. Feeling lost, helpless, and completely betrayed, I tried everything I could to contact the scammer, but all my efforts were in vain. Desperation led me to search for help online, hoping to find a way to recover my money and potentially track down the scammer. That’s when I stumbled upon several testimonies from others who had fallen victim to similar scams and had been helped by a company called Tech Cyber Force Recovery. I reached out to them immediately, providing all the details of the scam and the information I had gathered. To my immense relief, the experts at Tech Cyber Force Recovery acted swiftly. Within just 27 hours, they were able to locate the scammer and initiate the recovery process. Not only did they help me recover the $30,000 I had lost, but the most satisfying part was that the scammer was apprehended by local authorities in their region. Thanks to Tech Cyber Force Recovery, I was able to get my money back and hold the scammer accountable for their actions. I am incredibly grateful for their professionalism, expertise, and dedication to helping victims like me. If you have fallen victim to a scam or fraudulent activity, I highly recommend contacting Tech Cyber Force Recovery. They provide swift and efficient recovery assistance, and I can confidently say they made all the difference in my situation. ☎☎ 1️⃣5️⃣6️⃣1️⃣7️⃣2️⃣6️⃣3️⃣6️⃣9️⃣7️⃣ ☎☎ 📩 1️⃣5️⃣6️⃣1️⃣7️⃣2️⃣6️⃣3️⃣6️⃣9️⃣7️⃣ 📩

  • 14.02.25 22:12 eunice49954

    Agent Jasmine Lopez focuses on recovering stolen cryptocurrency, particularly USDT. She is well-known for helping victims of digital asset theft. Her reputation arises from successful recoveries that have allowed many to regain their lost funds. I witnessed this when $122,000 was taken from me. Thanks to Ms. Lopez's skills, I recovered the entire amount in just 24 hours. Her prompt response and effective methods relieved my financial burden. Ms. Lopez’s commitment to helping others is evident. She is always available to offer solutions to those facing similar problems. For assistance, she can be reached via email at recoveryfundprovider@gmail . com or contacted directly on WhatsApp and text at +44 - 7366 445035. Her Instagram handle is recoveryfundprovider.

  • 15.02.25 02:51 Michelle Lynn

    Living in Los Angeles, I never imagined I’d face such a difficult chapter in my life. At the time, my wife was pregnant, and we were both excited about starting a family. I fell victim to a series of scams, losing over $170,000 in total. Just when I thought things couldn’t get worse, I received a call from someone who promised to help me recover my losses. Desperate to fix the situation, I went along with it, hoping for a breakthrough. But it turned out to be another scam. However, most of the options I found either seemed dubious or offered no real guarantees. That’s when I came across Cyber Constable Intelligence. It was a company recommended in a Facebook community The team worked tirelessly on my case, and after some time, they successfully recovered 99% of my investment. Although I didn’t recover everything, the 99% recovery was a huge relief They also educated me on how to better protect my digital Asset Here's Their Website Info www cyberconstableintelligence com

  • 15.02.25 02:51 Michelle Lynn

    Living in Los Angeles, I never imagined I’d face such a difficult chapter in my life. At the time, my wife was pregnant, and we were both excited about starting a family. I fell victim to a series of scams, losing over $170,000 in total. Just when I thought things couldn’t get worse, I received a call from someone who promised to help me recover my losses. Desperate to fix the situation, I went along with it, hoping for a breakthrough. But it turned out to be another scam. However, most of the options I found either seemed dubious or offered no real guarantees. That’s when I came across Cyber Constable Intelligence. It was a company recommended in a Facebook community The team worked tirelessly on my case, and after some time, they successfully recovered 99% of my investment. Although I didn’t recover everything, the 99% recovery was a huge relief They also educated me on how to better protect my digital Asset Here's Their Website Info www cyberconstableintelligence com, WhatsApp Info: 1 (252) 378-7611

  • 16.02.25 01:01 Peter

    I fell victim to a crypto scam and lost a significant amount of money. What are the most effective strategies to recover my funds? I've heard about legal actions, contacting authorities, and hiring recovery experts, but I'm not sure where to start. Can you provide some guidance on the best ways to recover money lost in a crypto scam? Well if this is you, [email protected] gat you covered get in touch and thank me later

  • 16.02.25 20:06 eunice49954

    Agent Lopez specializes in recovering stolen cryptocurrencies, especially Bitcoin/USDT. She has built a strong reputation for helping victims reclaim their lost funds. A personal example highlights her effectiveness: I lost $111,000 and, thanks to her prompt action, I recovered it all within 24 hours. Her dedication and skills eased my financial stress. She is always ready to assist others with similar issues. For help, she can be reached by email at Recoveryfundprovider@gmail. com or contact her through WhatsApp at +44 736 644 5035. Her Insta is recoveryfundprovider.

  • 18.02.25 19:35 donovancristina

    Now, I’m that person sharing my success story on LinkedIn, telling others about the amazing team at TECH CYBER FORCE RECOVERY who literally saved my financial life. I’ve also become that guy who proudly shares advice like “Always back up your wallet, and if you don’t have TECH CYBER FORCE RECOVERY on speed dial.” So, a big thank you to TECH CYBER FORCE RECOVERY if I ever get a chance to meet the team, I might just offer to buy them a drink. They’ve earned it. FOR CRYPTO HIRING WEBSITE WWW://techcyberforcerecovery.com WHATSAPP : ⏩ wa.me/15617263697

  • 18.02.25 22:13 keithphillip671

    WhatsApp +44,7,4,9,3,5,1,3,3,8,5 Telegram @Franciscohack The day my son uncovered the truth—that the man I entrusted my hopes of wealth and companionship with through a cryptocurrency platform was a cunning scammer was the day my world crumbled. The staggering realization that I had been swindled out of 150,000.00 Euro worth of Bitcoin left me in a state of profound despair. As a 73-year-old grappling with loneliness, I had sought solace in what I believed to be a genuine connection, only to find deceit and betrayal. Countless sleepless nights were spent in tears, mourning not only the financial devastation but also the crushing blow to my trust. Attempts to verify the authenticity of our interactions were met with hostility, further deepening my sense of isolation. Through the loss it was my son who became my beacon of resilience. He took upon himself the arduous task of tracing the scam and seeking justice on my behalf. Through meticulous effort and determination, he unearthed {F R A N C I S C O H A C K}, renowned for their expertise in recovering funds lost to cryptocurrency scams. Entrusting them with screenshots and evidence of the fraudulent transactions, my son initiated the journey to reclaim what had been callously taken from me. {F R A N C I S C O H A C K} approached our plight with empathy and unwavering professionalism, immediately instilling a sense of confidence in their abilities. Despite my initial skepticism, their transparent communication and methodical approach reassured us throughout the recovery process. Regular updates on their progress and insights into their strategies provided much-needed reassurance and kept our hopes alive amid the uncertainty. Their commitment to transparency and client welfare was evident in every interaction, fostering a sense of partnership rather than mere service. Miraculously, in what felt like an eternity but was actually an impressively brief period, {F R A N C I S C O H A C K} delivered the astonishing news—I had recovered the entire 150,000.00 Euro worth of stolen Bitcoin. The flood of relief and disbelief was overwhelming, marking not just the restitution of financial losses but the restoration of my faith in justice. {F R A N C I S C O H A C K} proficiency in navigating the intricate landscape of blockchain technology and online fraud was nothing short of extraordinary. Their dedication to securing justice and restoring client confidence set them apart as more than just experts—they were steadfast allies in a fight against digital deceit. What resonated deeply with me {F R A N C I S C O H A C K} integrity and compassion. Despite the monumental recovery, they maintained transparency regarding their fees and ensured fairness in all dealings. Their proactive guidance on cybersecurity measures further underscored their commitment to safeguarding clients from future threats. It was clear that their mission extended beyond recovery—it encompassed education, prevention, and genuine advocacy for those ensnared by cyber fraud. ([email protected]) fills me with profound gratitude. They not only rescued my financial security but also provided invaluable emotional support during a time of profound vulnerability. To anyone navigating the aftermath of cryptocurrency fraud, I wholeheartedly endorse {F R A N C I S C O H A C K}. They epitomize integrity, expertise, and unwavering dedication to their clients' well-being. My experience with {F R A N C I S C O H A C K} transcended mere recovery—it was a transformative journey of resilience, restoration, and renewed hope in the face of adversity.

  • 21.02.25 07:42 daniel231101

    I never thought I would fall victim to a crypto scam until I was convinced of a crypto investment scam that saw me lose all my entire assets worth $487,000 to a crypto investment manager who convinced me I could earn more from my investment. I thought it was all gone for good but I kept looking for ways to get back my stolen crypto assets and finally came across Ethical Hack Recovery, a crypto recovery/spying company that has been very successful in the recovery of crypto for many other victims of crypto scams and people who lost access to their crypto. I’m truly grateful for their help as I was able to recover my stolen crypto assets and get my life back together. I highly recommend their services EMAIL ETHICALHACKERS009 AT @GMAIL DOT COM whatsapp +14106350697

  • 21.02.25 21:38 eunice49954

    Jasmine Lopez specializes in recovering stolen cryptocurrencies, especially ETH/USDT. She has built a strong reputation for helping victims reclaim their lost funds. A personal example highlights her effectiveness: I lost $111,000 and, thanks to her prompt action, I recovered it all within 24 hours. Her dedication and skills eased my financial stress. She is always ready to assist others with similar issues. For help, she can be reached by email at Recoveryfundprovider@gmail. com or contact her through WhatsApp at +44 736 644 5035. Her Insta is recoveryfundprovider.

  • 22.02.25 18:01 benluna0991

    Mark Zuckerberg. That’s the name I was introduced to when I first encountered the cryptocurrency mining platform, WHATS Invest. A person claiming to be Zuckerberg himself reached out to me, saying that he was personally backing the platform to help investors like me earn passive income. At first, I was skeptical—after all, how often do you get a direct connection to one of the world’s most famous tech entrepreneurs? But this individual seemed convincing and assured me that many people were already seeing substantial returns on their investments. He promised me a great opportunity to secure my financial future, so I decided to take the plunge and invest $10,000 into WHATS Invest. They told me that I could expect to see significant returns in just a few months, with payouts of at least $1,500 or more each month. I was excited, believing this would be my way out of financial struggles. However, as time passed, things didn’t go according to plan. Months went by, and I received very little communication. When I finally did receive a payout, it was nowhere near the $1,500 I was promised. Instead, I received just $200, barely 13% of what I had expected. Frustrated, I contacted the support team, but the responses were vague and unhelpful. No clear answers or solutions were offered, and my trust in the platform quickly started to erode. It became painfully clear that I wasn’t going to get anywhere with WHATS Invest, and I began to worry that my $10,000 might be lost for good. That's when I discovered Certified Recovery Services. Desperate to recover my funds, I decided to reach out to them for help. In just 24 hours, they worked tirelessly to recover the majority of my funds, successfully retrieving $8,500 85% of my initial investment. I couldn’t believe how quickly and efficiently they worked to get my money back. I’m extremely grateful for Certified Recovery Servicer's fast and professional service. Without them, I would have been left with a significant loss, and I would have had no idea how to move forward. If you find yourself in a similar situation with WHATS Invest or any other platform that isn’t delivering as promised, I highly recommend reaching out to Certified Recovery Services They were a lifesaver for me, helping me recover nearly all of my funds. It's reassuring to know that trustworthy services like this exist to help people when things go wrong. They also specialize in recovering money lost to online scams, so if you’ve fallen victim to such a scam, don’t hesitate to contact Certified Recovery Services they can help! Here's Their Info Below: WhatsApp: +1(740)258‑1417 mail: [email protected], [email protected] Website info; https://certifiedrecoveryservices.com

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