62,270 research outputs found
Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks
Autonomous robots need to interact with unknown, unstructured and changing
environments, constantly facing novel challenges. Therefore, continuous online
adaptation for lifelong-learning and the need of sample-efficient mechanisms to
adapt to changes in the environment, the constraints, the tasks, or the robot
itself are crucial. In this work, we propose a novel framework for
probabilistic online motion planning with online adaptation based on a
bio-inspired stochastic recurrent neural network. By using learning signals
which mimic the intrinsic motivation signalcognitive dissonance in addition
with a mental replay strategy to intensify experiences, the stochastic
recurrent network can learn from few physical interactions and adapts to novel
environments in seconds. We evaluate our online planning and adaptation
framework on an anthropomorphic KUKA LWR arm. The rapid online adaptation is
shown by learning unknown workspace constraints sample-efficiently from few
physical interactions while following given way points.Comment: accepted in Neural Network
Adaptive Backstepping Controller Design for Stochastic Jump Systems
In this technical note, we improve the results in a paper by Shi et al., in which problems of stochastic stability and sliding mode control for a class of linear continuous-time systems with stochastic jumps were considered. However, the system considered is switching stochastically between different subsystems, the dynamics of the jump system can not stay on each sliding surface of subsystems forever, therefore, it is difficult to determine whether the closed-loop system is stochastically stable. In this technical note, the backstepping techniques are adopted to overcome the problem in a paper by Shi et al.. The resulting closed-loop system is bounded in probability. It has been shown that the adaptive control problem for the Markovian jump systems is solvable if a set of coupled linear matrix inequalities (LMIs) have solutions. A numerical example is given to show the potential of the proposed techniques
Fast Damage Recovery in Robotics with the T-Resilience Algorithm
Damage recovery is critical for autonomous robots that need to operate for a
long time without assistance. Most current methods are complex and costly
because they require anticipating each potential damage in order to have a
contingency plan ready. As an alternative, we introduce the T-resilience
algorithm, a new algorithm that allows robots to quickly and autonomously
discover compensatory behaviors in unanticipated situations. This algorithm
equips the robot with a self-model and discovers new behaviors by learning to
avoid those that perform differently in the self-model and in reality. Our
algorithm thus does not identify the damaged parts but it implicitly searches
for efficient behaviors that do not use them. We evaluate the T-Resilience
algorithm on a hexapod robot that needs to adapt to leg removal, broken legs
and motor failures; we compare it to stochastic local search, policy gradient
and the self-modeling algorithm proposed by Bongard et al. The behavior of the
robot is assessed on-board thanks to a RGB-D sensor and a SLAM algorithm. Using
only 25 tests on the robot and an overall running time of 20 minutes,
T-Resilience consistently leads to substantially better results than the other
approaches
Learning and Management for Internet-of-Things: Accounting for Adaptivity and Scalability
Internet-of-Things (IoT) envisions an intelligent infrastructure of networked
smart devices offering task-specific monitoring and control services. The
unique features of IoT include extreme heterogeneity, massive number of
devices, and unpredictable dynamics partially due to human interaction. These
call for foundational innovations in network design and management. Ideally, it
should allow efficient adaptation to changing environments, and low-cost
implementation scalable to massive number of devices, subject to stringent
latency constraints. To this end, the overarching goal of this paper is to
outline a unified framework for online learning and management policies in IoT
through joint advances in communication, networking, learning, and
optimization. From the network architecture vantage point, the unified
framework leverages a promising fog architecture that enables smart devices to
have proximity access to cloud functionalities at the network edge, along the
cloud-to-things continuum. From the algorithmic perspective, key innovations
target online approaches adaptive to different degrees of nonstationarity in
IoT dynamics, and their scalable model-free implementation under limited
feedback that motivates blind or bandit approaches. The proposed framework
aspires to offer a stepping stone that leads to systematic designs and analysis
of task-specific learning and management schemes for IoT, along with a host of
new research directions to build on.Comment: Submitted on June 15 to Proceeding of IEEE Special Issue on Adaptive
and Scalable Communication Network
Stochastic Database Cracking: Towards Robust Adaptive Indexing in Main-Memory Column-Stores
Modern business applications and scientific databases call for inherently
dynamic data storage environments. Such environments are characterized by two
challenging features: (a) they have little idle system time to devote on
physical design; and (b) there is little, if any, a priori workload knowledge,
while the query and data workload keeps changing dynamically. In such
environments, traditional approaches to index building and maintenance cannot
apply. Database cracking has been proposed as a solution that allows on-the-fly
physical data reorganization, as a collateral effect of query processing.
Cracking aims to continuously and automatically adapt indexes to the workload
at hand, without human intervention. Indexes are built incrementally,
adaptively, and on demand. Nevertheless, as we show, existing adaptive indexing
methods fail to deliver workload-robustness; they perform much better with
random workloads than with others. This frailty derives from the inelasticity
with which these approaches interpret each query as a hint on how data should
be stored. Current cracking schemes blindly reorganize the data within each
query's range, even if that results into successive expensive operations with
minimal indexing benefit. In this paper, we introduce stochastic cracking, a
significantly more resilient approach to adaptive indexing. Stochastic cracking
also uses each query as a hint on how to reorganize data, but not blindly so;
it gains resilience and avoids performance bottlenecks by deliberately applying
certain arbitrary choices in its decision-making. Thereby, we bring adaptive
indexing forward to a mature formulation that confers the workload-robustness
previous approaches lacked. Our extensive experimental study verifies that
stochastic cracking maintains the desired properties of original database
cracking while at the same time it performs well with diverse realistic
workloads.Comment: VLDB201
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