A computational method (400) for training a meta-learned evolutionary strategy black-box optimization classifier to learn an
actuator control command for actuating a computer-controlled
machine, the method comprising: Receiving (402) one or more training functions F and one or more initial metalearning parameters Θ of the metalearning evolutionary strategy blackbox optimization classifier; Sampling (404) a generation of λ samples z1,...,z λ a sampled objective function f ∈ F of the one or more training functions F and an initial mean m (0) of the sampled objective function f ∈ F, where the generation of λ samples z1,...,z λ with a multivariate normal distribution N(m (0) = 0, e (0) C (0) = 1) with initial mean m (0) = 0 and an initial
covariance matrix C (0) = 1 in samples x1,...,xλ is shifted and scaled using the equation: xi = m ( t ) + σ ( t ) C ( t ) 1 2 zi , where σ (t) a step size of a number T steps in t = 1,...,T; for the number of T steps in t = 1,...,T, calculating (406) a set of T means m (1) ,...,m (T) by running the meta-scholarly evolutionary strategy black-box optimization classifier on the sampled objective function f ∈ F using the initial mean m (0) ; Calculate (408) a
loss function L(f(m 0 ), ..., f(m T )) of the set of T means m (1) ,...,m (T) ; and Updating (410) the one or more initial metalearning parameters Θ of the meta-learned evolutionary strategy black-box optimization classifier in response to a characteristic of the
loss function L to obtain an updated meta-learned evolutionary strategy black-box optimization classifier that includes a weighted combination of the generation of λ samples with larger weights for samples with smaller values for the objective function f ∈ F; Sending input signals received from a sensor into the updated meta-scholarly evolutionary strategy black-box optimization classifier to obtain output signals designed to characterize a classification of the input signals; and Sending an
actuator control command to an
actuator (14) of the computer-controlled
machine in response to the output signals; and Actuating the computer-controlled
machine in response to the actuator control command.