Differentiable Algorithm Networks for Composable Robot Learning

This paper introduces the Differentiable Algorithm Network (DAN), a composable architecture for robot learning systems. A DAN is composed of neural network modules, each encoding a differentiable robot algorithm and an associated model; and it is trained end-to-end from data. DAN combines the strengths of model-driven modular system design and data-driven end-to-end learning. The algorithms and models act as structural assumptions to reduce the data requirements for learning; end-to-end learning allows the modules to adapt to one another and compensate for imperfect models and algorithms, in order to achieve the best overall system performance. We illustrate the DAN methodology through a case study on a simulated robot system, which learns to navigate in complex 3-D environments with only local visual observations and an image of a partially correct 2-D floor map.Comment: RSS 2019 camera ready. Video is available at https://youtu.be/4jcYlTSJF4

The 2+1 Kepler Problem and Its Quantization

We study a system of two pointlike particles coupled to three dimensional Einstein gravity. The reduced phase space can be considered as a deformed version of the phase space of two special-relativistic point particles in the centre of mass frame. When the system is quantized, we find some possibly general effects of quantum gravity, such as a minimal distances and a foaminess of the spacetime at the order of the Planck length. We also obtain a quantization of geometry, which restricts the possible asymptotic geometries of the universe.Comment: 59 pages, LaTeX2e, 9 eps figure

Complexity over Uncertainty in Generalized Representational\ud Information Theory (GRIT): A Structure-Sensitive General\ud Theory of Information

What is information? Although researchers have used the construct of information liberally to refer to pertinent forms of domain-specific knowledge, relatively few have attempted to generalize and standardize the construct. Shannon and Weaver(1949)offered the best known attempt at a quantitative generalization in terms of the number of discriminable symbols required to communicate the state of an uncertain event. This idea, although useful, does not capture the role that structural context and complexity play in the process of understanding an event as being informative. In what follows, we discuss the limitations and futility of any generalization (and particularly, Shannon’s) that is not based on the way that agents extract patterns from their environment. More specifically, we shall argue that agent concept acquisition, and not the communication of\ud states of uncertainty, lie at the heart of generalized information, and that the best way of characterizing information is via the relative gain or loss in concept complexity that is experienced when a set of known entities (regardless of their nature or domain of origin) changes. We show that Representational Information Theory perfectly captures this crucial aspect of information and conclude with the first generalization of Representational Information Theory (RIT) to continuous domains