A Concurrency Control Method Based on Commitment Ordering in Mobile Databases

Disconnection of mobile clients from server, in an unclear time and for an unknown duration, due to mobility of mobile clients, is the most important challenges for concurrency control in mobile database with client-server model. Applying pessimistic common classic methods of concurrency control (like 2pl) in mobile database leads to long duration blocking and increasing waiting time of transactions. Because of high rate of aborting transactions, optimistic methods aren`t appropriate in mobile database. In this article, OPCOT concurrency control algorithm is introduced based on optimistic concurrency control method. Reducing communications between mobile client and server, decreasing blocking rate and deadlock of transactions, and increasing concurrency degree are the most important motivation of using optimistic method as the basis method of OPCOT algorithm. To reduce abortion rate of transactions, in execution time of transactions` operators a timestamp is assigned to them. In other to checking commitment ordering property of scheduler, the assigned timestamp is used in server on time of commitment. In this article, serializability of OPCOT algorithm scheduler has been proved by using serializability graph. Results of evaluating simulation show that OPCOT algorithm decreases abortion rate and waiting time of transactions in compare to 2pl and optimistic algorithms.Comment: 15 pages, 13 figures, Journal: International Journal of Database Management Systems (IJDMS

Role Playing Learning for Socially Concomitant Mobile Robot Navigation

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that directly maps sensory data collected by the robot to its velocity outputs, while respecting a set of social norms. An efficient simulative learning environment is built with maps and pedestrians trajectories collected from a number of real-world crowd data sets. In each learning iteration, a robot equipped with the NN policy is created virtually in the learning environment to play itself as a companied pedestrian and navigate towards a goal in a socially concomitant manner. Thus, we call this process Role Playing Learning, which is formulated under a reinforcement learning (RL) framework. The NN policy is optimized end-to-end using Trust Region Policy Optimization (TRPO), with consideration of the imperfectness of robot's sensor measurements. Simulative and experimental results are provided to demonstrate the efficacy and superiority of our method

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201