Minimax Iterative Dynamic Game: Application to Nonlinear Robot Control Tasks

Multistage decision policies provide useful control strategies in high-dimensional state spaces, particularly in complex control tasks. However, they exhibit weak performance guarantees in the presence of disturbance, model mismatch, or model uncertainties. This brittleness limits their use in high-risk scenarios. We present how to quantify the sensitivity of such policies in order to inform of their robustness capacity. We also propose a minimax iterative dynamic game framework for designing robust policies in the presence of disturbance/uncertainties. We test the quantification hypothesis on a carefully designed deep neural network policy; we then pose a minimax iterative dynamic game (iDG) framework for improving policy robustness in the presence of adversarial disturbances. We evaluate our iDG framework on a mecanum-wheeled robot, whose goal is to find a ocally robust optimal multistage policy that achieve a given goal-reaching task. The algorithm is simple and adaptable for designing meta-learning/deep policies that are robust against disturbances, model mismatch, or model uncertainties, up to a disturbance bound. Videos of the results are on the author's website, http://ecs.utdallas.edu/~opo140030/iros18/iros2018.html, while the codes for reproducing our experiments are on github, https://github.com/lakehanne/youbot/tree/rilqg. A self-contained environment for reproducing our results is on docker, https://hub.docker.com/r/lakehanne/youbotbuntu14/Comment: 2018 International Conference on Intelligent Robots and System

Application Design and Engagement Strategy of a Game with a Purpose for Climate Change Awareness

The Climate Challenge is an online application in the tradition of games with a purpose that combines practical steps to reduce carbon footprint with predictive tasks to estimate future climate-related conditions. As part of the Collective Awareness Platform, the application aims to increase environmental literacy and motivate users to adopt more sustainable lifestyles. It has been deployed in conjunction with the Media Watch on Climate Change, a publicly available knowledge aggregator and visual analytics system for exploring environmental content from multiple online sources. This paper presents the motivation and goals of the Climate Challenge from an interdisciplinary perspective, outlines the application design including the types of tasks built into the application, discusses incentive mechanisms, and analyses the pursued user engagement strategies

LATTE: Application Oriented Social Network Embedding

In recent years, many research works propose to embed the network structured data into a low-dimensional feature space, where each node is represented as a feature vector. However, due to the detachment of embedding process with external tasks, the learned embedding results by most existing embedding models can be ineffective for application tasks with specific objectives, e.g., community detection or information diffusion. In this paper, we propose study the application oriented heterogeneous social network embedding problem. Significantly different from the existing works, besides the network structure preservation, the problem should also incorporate the objectives of external applications in the objective function. To resolve the problem, in this paper, we propose a novel network embedding framework, namely the "appLicAtion orienTed neTwork Embedding" (Latte) model. In Latte, the heterogeneous network structure can be applied to compute the node "diffusive proximity" scores, which capture both local and global network structures. Based on these computed scores, Latte learns the network representation feature vectors by extending the autoencoder model model to the heterogeneous network scenario, which can also effectively unite the objectives of network embedding and external application tasks. Extensive experiments have been done on real-world heterogeneous social network datasets, and the experimental results have demonstrated the outstanding performance of Latte in learning the representation vectors for specific application tasks.Comment: 11 Pages, 12 Figures, 1 Tabl

Bringing BCI into everyday life: Motor imagery in a pseudo realistic environment

Bringing Brain-Computer Interfaces (BCIs) into everyday life is a challenge because an out-of-lab environment implies the presence of variables that are largely beyond control of the user and the software application. This can severely corrupt signal quality as well as reliability of BCI control. Current BCI technology may fail in this application scenario because of the large amounts of noise, nonstationarity and movement artifacts. In this paper, we systematically investigate the performance of motor imagery BCI in a pseudo realistic environment. In our study 16 participants were asked to perform motor imagery tasks while dealing with different types of distractions such as vibratory stimulations or listening tasks. Our experiments demonstrate that standard BCI procedures are not robust to theses additional sources of noise, implicating that methods which work well in a lab environment, may perform poorly in realistic application scenarios. We discuss several promising research directions to tackle this important problem.BMBF, 01GQ1115, Adaptive Gehirn-Computer-Schnittstellen (BCI) in nichtstationären Umgebunge

A Benes Based NoC Switching Architecture for Mixed Criticality Embedded Systems

Multi-core, Mixed Criticality Embedded (MCE) real-time systems require high timing precision and predictability to guarantee there will be no interference between tasks. These guarantees are necessary in application areas such as avionics and automotive, where task interference or missed deadlines could be catastrophic, and safety requirements are strict. In modern multi-core systems, the interconnect becomes a potential point of uncertainty, introducing major challenges in proving behaviour is always within specified constraints, limiting the means of growing system performance to add more tasks, or provide more computational resources to existing tasks. We present MCENoC, a Network-on-Chip (NoC) switching architecture that provides innovations to overcome this with predictable, formally verifiable timing behaviour that is consistent across the whole NoC. We show how the fundamental properties of Benes networks benefit MCE applications and meet our architecture requirements. Using SystemVerilog Assertions (SVA), formal properties are defined that aid the refinement of the specification of the design as well as enabling the implementation to be exhaustively formally verified. We demonstrate the performance of the design in terms of size, throughput and predictability, and discuss the application level considerations needed to exploit this architecture

Different Methods of Embodied Cognition in Pedagogy and its Effectiveness in Student Learning

The Mathematical Ideas Analysis hypothesizes that abstract mathematical reasoning is unconsciously organized and integrated with sensory-motor experience. Basic research testing movement, language, and perception during math problem solving supports this hypothesis. Applied research primarily measures students’ performance on math tests after they engage in analogous sensory-motor tasks, but findings show mixed results. Sensory-motor tasks are dependent on several moderators (e.g., instructional guidance, developmental stage) known to help students learn, and studies vary in how each moderator is implemented. There is little research on the effectiveness of sensory-motor tasks without these moderators. This study compares different approaches to working with an interactive application designed to emulate how people intrinsically solve algebraic equations. A total of 130 participants (84 females, 54 males) were drawn from a pool of Introductory Psychology students attending San Jose State University. Participants were placed in three different learning environments, and their performance was measured by comparing improvement between a pre-test and a post-test. We found no difference between participants who worked alone with the application, were instructed by the experimenter while using the application, or who instructed the experimenter on how to solve equations using the application. Further research is needed to examine how and whether analogous sensory-motor interfaces are a useful learning tool, and if so, what circumstances are ideal for sensory-motor interfaces to be used