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.
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.
15645118
Functional Value Iteration for Decision-Theoretic Planning with General Utility Functions
We study how to find plans that maximize the expected total utility for a given MDP, a planning objective that is important for decision making in high-stakes domains. The optimal actions can now depend on the total reward that has been accumulated so far in addition to the current state. We extend our previous work on functional value iteration from one-switch utility functions to all utility functions that can be approximated with piecewise linear utility functions (with and without exponential tails) by using functional value iteration to find a plan that maximizes the expected total utility for the approximate utility function. Functional value iteration does not maintain a value for every state but a value function that maps the total reward that has been accumulated so far into a value. We describe how functional value iteration represents these value functions in finite form, how it performs dynamic programming by manipulating these representations and what kinds of approximation guarantees it is able to make. We also apply it to a probabilistic blocksworld problem, a standard test domain for decision-theoretic planners.
1813681
The interaction of representations and planning objectives for decision-theoretic planning tasks
This article studies decision-theoretic planning or reinforcement learning in the presence of traps such as steep slopes for outdoor robots or staircases for indoor robots. In this case, achieving the goal from the start is often the primary objective while minimizing the travel time is only of secondary importance. This article studies how this planning objective interacts with possible representations of the planning tasks, namely whether to use a discount factor that is one or smaller than one and whether to use the action-penalty or the goal-reward representation. It is shown that the action-penalty representation without discounting guarantees that the plan that maximizes the expected reward also achieves the goal from the start (provided that this is possible) but neither the action-penalty representation with discounting nor the goal-reward representation with discounting have this property. The article then shows exactly when this trapping phenomenon occurs, using a novel interpretation of discounting, namely that it models agents that use convex exponential utility functions and thus are optimistic in the face of uncertainty. Finally, it is shown how the selective state-deletion method can be used in conjunction with standard decision-theoretic planners to eliminate the trapping phenomenon.
34130479
Efficient and inefficient ant coverage methods
Ant robots are simple creatures with limited sensing and computational capabilities. They have the advantage that they are easy to program and cheap to build. This makes it feasible to deploy groups of ant robots and take advantage of the resulting fault tolerance and parallelism. We study, both theoretically and in simulation, the behavior of ant robots for one-time or repeated coverage of terrain, as required for lawn mowing, mine sweeping, and surveillance. Ant robots cannot use conventional planning methods due to their limited sensing and computational capabilities. To overcome these limitations, we study navigation methods that are based on real-time (heuristic) search and leave markings in the terrain, similar to what real ants do. These markings can be sensed by all ant 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 ant robots do not even need to be localized, which completely eliminates solving difficult and time-consuming localization problems. We study two simple real-time search methods that differ only in how the markings are updated. We show experimentally that both real-time search methods robustly cover terrain even if the ant robots are moved without realizing this (say, by people running into them), some ant robots fail, and some markings get destroyed. Both real-time search methods are algorithmically similar, and our experimental results indicate that their cover time is similar in some terrains. Our analysis is therefore surprising. We show that the cover time of ant robots that use one of the real-time search methods is guaranteed to be polynomial in the number of locations, whereas the cover time of ant robots that use the other real-time search method can be exponential in (the square root of) the number of locations even in simple terrains that correspond to (planar) undirected trees.
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.
206600425
Genetic programming-based decision trees for software quality classification
The knowledge of the likely problematic areas of a software system is very useful for improving its overall quality. Based on such information, a more focused software testing and inspection plan can be devised. Decision trees are attractive for a software quality classification problem which predicts the quality of program modules in terms of risk-based classes. They provide a comprehensible classification model which can be directly interpreted by observing the tree-structure. A simultaneous optimization of the classification accuracy and the size of the decision tree is a difficult problem, and very few studies have addressed the issue. This paper presents an automated and simplified genetic programming (gp) based decision tree modeling technique for the software quality classification problem. Genetic programming is ideally suited for problems that require optimization of multiple criteria. The proposed technique is based on multi-objective optimization using strongly typed GP. In the context of an industrial high-assurance software system, two fitness functions are used for the optimization problem: one for minimizing the average weighted cost of misclassification, and one for controlling the size of the decision tree. The classification performances of the GP-based decision trees are compared with those based on standard GP, i.e., S-expression tree. It is shown that the GP-based decision tree technique yielded better classification models. As compared to other decision tree-based methods, such as C4.5, GP-based decision trees are more flexible and can allow optimization of performance objectives other than accuracy. Moreover, it provides a practical solution for building models in the presence of conflicting objectives, which is commonly observed in software development practice.
132343
Approaching optimal peer-to-peer overlays
In unstructured peer-to-peer (P2P) systems, there exists a serious topology mismatch problem between physical and logical network. We first analyze the relationship between the property of the overlay and the corresponding message duplications incurred by queries in a given overlay, and prove that computing an optimal overlay with global knowledge is an NP-hard problem. Motivated by the analysis results, we design a distributed overlay optimization algorithm, THANCS, to attack topology mismatch. We demonstrate its performance by comprehensive simulations in dynamic environments. The proposed THANCS has three major strengths. First, it does not need any global knowledge. Second, its optimization convergent speed is fast. Third, it is orthogonal with other types of advanced search approaches.
12595607
Sketch Recognition Based on Topological Spatial Relationship
In recognition of composite graphic objects, topological spatial relationships of their components play an important role. Although most researchers focus on binary topological relationships, they cannot carry all information of the internal structure of the compound objects. Therefore, we introduce the ternary relationship, which is a complement to the binary relationship, to describe composite graphic objects. Moreover, we provide a constrained partial permutation algorithm based on both the binary and ternary topological spatial relationships to recognize the sketchy objects input by users in an online manner. Experimental results show that this approach is both efficient and effective for online composite graphics recognition in our sketch-based graphics input system–SmartSketchpad.
15475945
Performance prediction of component-based applications
One of the major problems in building large-scale enterprise systems is anticipating the performance of the eventual solution before it has been built. The fundamental software engineering problem becomes more difficult when the systems are built on component technology. This paper investigates the feasibility of providing a practical solution to this problem. An empirical approach is proposed to determine the performance characteristics of component-based applications by benchmarking and profiling. Based on observation, a model is constructed to act as a performance predictor for a class of applications based on the specific component technology. The performance model derived from empirical measures is necessary to make the problem tractable and the results relevant. A case study applies the performance model to an application prototype implemented by two component infrastructures: CORBA and J2EE.
34451404
The enumeration of near-perfect matchings of factor-critical graphs
Abstract A matching of a graph is a near-perfect matching if it covers all but one vertex. A connected graph G is said to be factor-critical if G − v has perfect matchings for every vertex v of G. In this paper, the enumeration problems for near-perfect matchings in special factor-critical graphs are solved. From this, the exact values of the number of perfect matchings in special bicritical graphs are obtained.