3542397
Terrain coverage with ant robots: a simulation study
In this paper, we study a simple means for coordinating teams of simple agents. In particular, we study ant robots and how they can cover terrain once or repeatedly by leaving markings in the terrain, similar to what ants do. These markings can be sensed by all robots and allow them to cover terrain even if they do not communicate with each other except via the markings, do not have any kind of memory, do not know the terrain, cannot maintain maps of the terrain, nor plan complete paths. The robots do not even need to be localized, which completely eliminates solving difficult and time-consuming localization problems. In this paper, we use real-time heuristic search methods to implement ant robots and present a simulation study with several real-time heuristic search methods to study their properties for terrain coverage. Our experiments show that all of the real-time heuristic search methods robustly cover terrain even if the robots are moved without realizing this, some robots fail, and some markings get destroyed. These results demonstrate that terrain coverage with real-time heuristic search methods is an interesting alternative to more conventional terrain coverage methods.
1322941
Representations of Decision-Theoretic Planning Tasks
Goal-directed Markov Decision Process models (GDMDPs) are good models for many decision-theoretic planning tasks. They have been used in conjunction with two different reward structures, namely the goal-reward representation and the action-penalty representation. We apply GDMDPs to planning tasks in the presence of traps such as steep slopes for outdoor robots or staircases for indoor robots, and study the differences between the two reward structures. In these situations, achieving the goal is often the primary objective while minimizing the travel time is only of secondary importance. We show that the action-penalty representation without discounting guarantees that the optimal plan achieves the goal for sure (if this is possible) but neither the action-penalty representation with discounting nor the goal-reward representation with discounting have this property. We then show exactly when this trapping phenomenon occurs, using a novel interpretation for discounting, namely that it models agents that use convex exponential utility functions and thus are optimistic in the face of uncertainty. Finally, we show how the trapping phenomenon can be eliminated with our Selective State-Deletion Method.
10288903
Sensor Planning with Non-linear Utility Functions
Sensor planning is concerned with when to sense and what to sense. We study sensor planning in the context of planning objectives that trade-off between minimizing the worst-case, expected, and best-case plan- execution costs. Sensor planning with these planning objectives is interesting because they are realistic and the frequency of sensing changes with the planning objective: more pessimistic decision makers tend to sense more frequently. We perform sensor planning by combining one of our techniques for planning with non-linear utility functions with an existing sensor-planning method. The resulting sensor-planning method is not only as easy to implement as the sensor-planning method that it extends but also (almost) as efficient. We demonstrate empirically how sensor plans change as the planning objective changes, using a common testbed for sensor planning.
15650619
Value-Function-Based Transfer for Reinforcement Learning Using Structure Mapping
Transfer learning concerns applying knowledge learned in one task (the source) to improve learning another related task (the target). In this paper, we use structure mapping, a psychological and computational theory about analogy making, to find mappings between the source and target tasks and thus construct the transfer functional automatically. Our structure mapping algorithm is a specialized and optimized version of the structure mapping engine and uses heuristic search to find the best maximal mapping. The algorithm takes as input the source and target task specifications represented as qualitative dynamic Bayes networks, which do not need probability information. We apply this method to the Keepaway task from RoboCup simulated soccer and compare the result from automated transfer to that from handcoded transfer.
17761777
Risk-Sensitive Planning with One-Switch Utility Functions: Value Iteration
Decision-theoretic planning with nonlinear utility functions is important since decision makers are often risk-sensitive in high-stake planning situations. One-switch utility functions are an important class of nonlinear utility functions that can model decision makers whose decisions change with their wealth level. We study how to maximize the expected utility of a Markov decision problem for a given one-switch utility function, which is difficult since the resulting planning problem is not decomposable. We first study an approach that augments the states of the Markov decision problem with the wealth level. The properties of the resulting infinite Markov decision problem then allow us to generalize the standard risk-neutral version of value iteration from manipulating values to manipulating functions that map wealth levels to values. We use a probabilistic blocks-world example to demonstrate that the resulting risk-sensitive version of value iteration is practical.
7225251
Keepaway Soccer: From Machine Learning Testbed to Benchmark
Keepaway soccer has been previously put forth as a testbed for machine learning. Although multiple researchers have used it successfully for machine learning experiments, doing so has required a good deal of domain expertise. This paper introduces a set of programs, tools, and resources designed to make the domain easily usable for experimentation without any prior knowledge of RoboCup or the Soccer Server. In addition, we report on new experiments in the Keepaway domain, along with performance results designed to be directly comparable with future experimental results. Combined, the new infrastructure and our concrete demonstration of its use in comparative experiments elevate the domain to a machine learning benchmark, suitable for use by researchers across the field.
12839905
Context sensitive vocabulary and its application in protein secondary structure prediction
Protein secondary structure prediction is an important step towards understanding the relation between protein sequence and structure. However, most current prediction methods use features difficult for biologists to interpret. In this paper, we present a new method that applies information retrieval techniques to solve the problem:we extract a context sensitive biological vocabulary for protein sequences and apply text classification methods to predict protein secondary structure. Experimental results show that our method performs comparably to the state-of-art methods. Furthermore, the context sensitive vocabularies can serve as a useful tool to discover meaningful regular expression patterns for protein structures.
9822374
Initial Study on Automatic Identification of Speaker Role in Broadcast News Speech
Identifying a speaker's role (anchor, reporter, or guest speaker) is important for finding the structural information in broadcast news speech. We present an HMM-based approach and a maximum entropy model for speaker role labeling using Mandarin broadcast news speech. The algorithms achieve classification accuracy of about 80% (compared to the baseline of around 50%) using the human transcriptions and manually labeled speaker turns. We found that the maximum entropy model performs slightly better than the HMM, and that the combination of them outperforms any model alone. The impact of the contextual role information is also examined in this study.
389729
Predicting protein folds with structural repeats using a chain graph model
Protein fold recognition is a key step towards inferring the tertiary structures from amino-acid sequences. Complex folds such as those consisting of interacting structural repeats are prevalent in proteins involved in a wide spectrum of biological functions. However, extant approaches often perform inadequately due to their inability to capture long-range interactions between structural units and to handle low sequence similarities across proteins (under 25% identity). In this paper, we propose a chain graph model built on a causally connected series of segmentation conditional random fields (SCRFs) to address these issues. Specifically, the SCRF model captures long-range interactions within recurring structural units and the Bayesian network backbone decomposes cross-repeat interactions into locally computable modules consisting of repeat-specific SCRFs and a model for sequence motifs. We applied this model to predict β-helices and leucine-rich repeats, and found it significantly outperforms extant methods in predictive accuracy and/or computational efficiency.
15370058
Evolutionary programming made faster
Evolutionary programming (EP) has been applied with success to many numerical and combinatorial optimization problems in recent years. EP has rather slow convergence rates, however, on some function optimization problems. In the paper, a "fast EP" (FEP) is proposed which uses a Cauchy instead of Gaussian mutation as the primary search operator. The relationship between FEP and classical EP (CEP) is similar to that between fast simulated annealing and the classical version. Both analytical and empirical studies have been carried out to evaluate the performance of FEP and CEP for different function optimization problems. The paper shows that FEP is very good at search in a large neighborhood while CEP is better at search in a small local neighborhood. For a suite of 23 benchmark problems, FEP performs much better than CEP for multimodal functions with many local minima while being comparable to CEP in performance for unimodal and multimodal functions with only a few local minima. The paper also shows the relationship between the search step size and the probability of finding a global optimum and thus explains why FEP performs better than CEP on some functions but not on others. In addition, the importance of the neighborhood size and its relationship to the probability of finding a near-optimum is investigated. Based on these analyses, an improved FEP (IFEP) is proposed and tested empirically. This technique mixes different search operators (mutations). The experimental results show that IFEP performs better than or as well as the better of FEP and CEP for most benchmark problems tested.
163835
Popularity Adaptive Search in Hybrid P2P Systems
In a hybrid peer-to-peer (P2P) system, flooding and DHT are both employed for content locating. The decision to use flooding or DHT largely depends on the population of desired data. Previous works either use local information only, or do not consider dynamic factors of P2P systems. In this paper, we propose a popularity adaptive search method for hybrid (PASH) P2P systems. By dynamically detecting the content popularity, PASH properly selects search methods and efficiently saves query traffic cost and response time. We comprehensively evaluate PASH through synthetic and trace-driven simulations. The results show that PASH outperforms existing approaches and it also scales well.