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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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  • 15.10.25 18:07 crypto

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  • 17.10.25 21:42 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 17.10.25 21:42 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 17.10.25 21:42 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 21.10.25 08:39 debby131

    Given how swiftly the cryptocurrency market moves, losing USDT may be a terrifying and upsetting experience. Whether you experienced a technical problem, a transaction error, or were the victim of fraud, it is important to understand the potential recovery routes. Marie can assist you in determining the specific actions you can take to attempt to regain your lost USDT when you need guidance and clarification. You can reach her via email at [email protected] and WhatsApp at +1 7127594675.

  • 21.10.25 11:45 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 21.10.25 11:45 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 22.10.25 04:48 MATT PHILLIP

    I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $150,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.

  • 22.10.25 07:36 donnacollier

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  • 22.10.25 11:59 elizabethrush89

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  • 22.10.25 11:59 elizabethrush89

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  • 22.10.25 16:31 MATT PHILLIP

    I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $150,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.

  • 23.10.25 01:52 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 23.10.25 01:52 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 23.10.25 15:47 MATT PHILLIP

    I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $150,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.

  • 23.10.25 21:43 patricialovick86

    How To Recover Your Bitcoin Without Falling Victim To Scams: A  Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected]  You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 23.10.25 21:43 patricialovick86

    How To Recover Your Bitcoin Without Falling Victim To Scams: A  Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected]  You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 24.10.25 06:08 MATT PHILLIP

    I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $150,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.

  • 24.10.25 06:40 elizabethrush89

    God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 24.10.25 06:40 elizabethrush89

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  • 24.10.25 06:54 MATT PHILLIP

    I never imagined I’d fall for a crypto romance scam but it happened. Over the course of a few months, I sent nearly $150,000 worth of Bitcoin to someone I genuinely believed I was building a future with. When they disappeared without a trace, I was left heartbroken, humiliated, and financially devastated. For a long time, I didn’t tell anyone. I felt ashamed. But eventually, while searching for answers, I came across a Reddit thread that mentioned Agent Jasmine Lopez. I reached out, not expecting much. To my surprise, she treated me with kindness, not judgment. She used advanced tools like blockchain forensics, IP tracing, and smart contract analysis and with persistence and legal support, she was able to recover nearly 85% of what I lost. I know not everyone gets that kind of outcome, but thanks to [email protected] WhatsApp at +44 736-644-5035, I’ve started to reclaim not just my assets, but my confidence and peace of mind. If you’re going through something similar, you’re not alone and there is hope.

  • 24.10.25 18:18 patricialovick86

    How To Recover Your Bitcoin Without Falling Victim To Scams: A  Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected]  You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 24.10.25 18:18 patricialovick86

    How To Recover Your Bitcoin Without Falling Victim To Scams: A  Testimony Experience With Capital Crypto Recover Services, Contact Telegram: @Capitalcryptorecover Dear Everyone, I would like to take a moment to share my positive experience with Capital Crypto Recover Services. Initially, I was unsure if it would be possible to recover my stolen bitcoins. However, with their expertise and professionalism, I was able to fully recover my funds. Unfortunately, many individuals fall victim to scams in the cryptocurrency space, especially those involving fraudulent investment platforms. However, I advise caution, as not all recovery services are legitimate. I personally lost $273,000 worth of Bitcoin from my Binance account due to a deceptive platform. If you have suffered a similar loss, you may be considering crypto recovery, The Capital Crypto Recover is the most knowledgeable and effective Capital Crypto Recovery Services assisted me in recovering my stolen funds within 24 hours, after getting access to my wallet. Their service was not only prompt but also highly professional and effective, and many recovery services may not be trustworthy. Therefore, I highly recommend Capital Crypto Recover to you. i do always research and see reviews about their service, For assistance finding your misplaced cryptocurrency, get in touch with them, They do their jobs quickly and excellently, Stay safe and vigilant in the crypto world. Contact: [email protected]  You can reach them via email at [email protected] OR Call/Text Number +1 (336)390-6684 his contact website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 25.10.25 00:49 tyleradams

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  • 25.10.25 00:50 stevekalfman

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  • 25.10.25 05:05 victoriabenny463

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  • 25.10.25 10:13 wendytaylor015

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  • 25.10.25 10:13 wendytaylor015

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  • 26.10.25 01:03 Christopherbelle

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  • 26.10.25 18:09 victoriabenny463

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  • 27.10.25 11:15 harristhomas7376

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  • 27.10.25 11:15 harristhomas7376

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  • 27.10.25 17:08 raymondgonzales

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  • 27.10.25 17:20 fatimanorth

    The Federal Trade Commission said that more than $1 billion had been lost to cryptocurrency scams in 2023. Victims frequently lose everything, including hope, trust, and wealth. When your hard-earned money disappears into digital shadows, you feel trapped. Nowadays, cryptocurrency frauds are very common. You can get help from recovery specialist Marie at [email protected] and via WhatsApp at +1 7127594675.

  • 28.10.25 00:55 elizabethrush89

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  • 28.10.25 00:55 elizabethrush89

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  • 29.10.25 03:43 Christopherbelle

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  • 29.10.25 10:56 wendytaylor015

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  • 29.10.25 10:56 wendytaylor015

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  • 30.10.25 09:49 Christopherbelle

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  • 30.10.25 12:03 elizabethrush89

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  • 31.10.25 13:25 Lillian Lizzy

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  • 01.11.25 03:27 elizabethrush89

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  • 01.11.25 15:49 kattygates

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  • 02.11.25 10:55 Christopherbelle

    I suffered a crushing blow when $45,000 slipped away in a phony crypto scam. It all looked great at first. But when I went to pull out my gains, my account just vanished. I called the cops over and over. Still, no luck. I felt shattered and lost. That’s when I stumbled on Sylvester Bryant Intelligence. Things turned around fast. Right away, they showed real openness, sharp skills, and a drive to fix it. They tracked my missing money step by step. And they pushed hard until they got it back. I honestly didn’t believe it could happen. Their straight-up approach and solid work brought back my calm. If a scam took your crypto, reach out to them now. yt7cracker@gmail . com | WhatsApp: +1 512 577 7957 or +44 7428 662701

  • 02.11.25 10:56 Christopherbelle

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  • 02.11.25 15:23 michaeldavenport238

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  • 02.11.25 15:23 michaeldavenport238

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  • 04.11.25 04:59 Christopherbelle

    How to Recover Bitcoin Stolen by a Scammer I dropped £75,000 into a fake crypto scheme. Everything seemed perfect right from the start. But when I tried to cash out my profits, the whole account disappeared. I rang the police time and again. They offered no help at all. I felt broken and alone. Then I found Sylvester Bryant Intelligence. My luck changed in no time. They spoke plainly, worked smart, and focused on my case. They followed the trail of my lost cash bit by bit. They fought until they recovered it all. I never thought it was possible. Their honest approach and expertise restored my peace. If a scam has stolen your crypto, contact them now. [email protected] | WhatsApp: +1 512 577 7957 or +44 7428 662701

  • 04.11.25 09:30 robertalfred175

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  • 04.11.25 09:30 robertalfred175

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  • 05.11.25 02:43 jordan_11

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  • 05.11.25 02:44 jordan_11

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  • 05.11.25 02:48 jordan_11

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  • 05.11.25 16:20 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 05.11.25 16:21 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

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