5,373 research outputs found
Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior
This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic
causal model for predicting the behavior generated by modern percept-driven
robot plans. PHAMs represent aspects of robot behavior that cannot be
represented by most action models used in AI planning: the temporal structure
of continuous control processes, their non-deterministic effects, several modes
of their interferences, and the achievement of triggering conditions in
closed-loop robot plans.
The main contributions of this article are: (1) PHAMs, a model of concurrent
percept-driven behavior, its formalization, and proofs that the model generates
probably, qualitatively accurate predictions; and (2) a resource-efficient
inference method for PHAMs based on sampling projections from probabilistic
action models and state descriptions. We show how PHAMs can be applied to
planning the course of action of an autonomous robot office courier based on
analytical and experimental results
Scalable Verification of Markov Decision Processes
Markov decision processes (MDP) are useful to model concurrent process
optimisation problems, but verifying them with numerical methods is often
intractable. Existing approximative approaches do not scale well and are
limited to memoryless schedulers. Here we present the basis of scalable
verification for MDPSs, using an O(1) memory representation of
history-dependent schedulers. We thus facilitate scalable learning techniques
and the use of massively parallel verification.Comment: V4: FMDS version, 12 pages, 4 figure
A Faster-Than Relation for Semi-Markov Decision Processes
When modeling concurrent or cyber-physical systems, non-functional
requirements such as time are important to consider. In order to improve the
timing aspects of a model, it is necessary to have some notion of what it means
for a process to be faster than another, which can guide the stepwise
refinement of the model. To this end we study a faster-than relation for
semi-Markov decision processes and compare it to standard notions for relating
systems. We consider the compositional aspects of this relation, and show that
the faster-than relation is not a precongruence with respect to parallel
composition, hence giving rise to so-called parallel timing anomalies. We take
the first steps toward understanding this problem by identifying decidable
conditions sufficient to avoid parallel timing anomalies in the absence of
non-determinism.Comment: In Proceedings QAPL 2019, arXiv:2001.0616
Smart Sampling for Lightweight Verification of Markov Decision Processes
Markov decision processes (MDP) are useful to model optimisation problems in
concurrent systems. To verify MDPs with efficient Monte Carlo techniques
requires that their nondeterminism be resolved by a scheduler. Recent work has
introduced the elements of lightweight techniques to sample directly from
scheduler space, but finding optimal schedulers by simple sampling may be
inefficient. Here we describe "smart" sampling algorithms that can make
substantial improvements in performance.Comment: IEEE conference style, 11 pages, 5 algorithms, 11 figures, 1 tabl
Credit assignment in multiple goal embodied visuomotor behavior
The intrinsic complexity of the brain can lead one to set aside issues related to its relationships with the body, but the field of embodied cognition emphasizes that understanding brain function at the system level requires one to address the role of the brain-body interface. It has only recently been appreciated that this interface performs huge amounts of computation that does not have to be repeated by the brain, and thus affords the brain great simplifications in its representations. In effect the brain’s abstract states can refer to coded representations of the world created by the body. But even if the brain can communicate with the world through abstractions, the severe speed limitations in its neural circuitry mean that vast amounts of indexing must be performed during development so that appropriate behavioral responses can be rapidly accessed. One way this could happen would be if the brain used a decomposition whereby behavioral primitives could be quickly accessed and combined. This realization motivates our study of independent sensorimotor task solvers, which we call modules, in directing behavior. The issue we focus on herein is how an embodied agent can learn to calibrate such individual visuomotor modules while pursuing multiple goals. The biologically plausible standard for module programming is that of reinforcement given during exploration of the environment. However this formulation contains a substantial issue when sensorimotor modules are used in combination: The credit for their overall performance must be divided amongst them. We show that this problem can be solved and that diverse task combinations are beneficial in learning and not a complication, as usually assumed. Our simulations show that fast algorithms are available that allot credit correctly and are insensitive to measurement noise
Analysis, classification and comparison of scheduling techniques for software transactional memories
Transactional Memory (TM) is a practical programming paradigm for developing concurrent applications. Performance is a critical factor for TM implementations, and various studies demonstrated that specialised transaction/thread scheduling support is essential for implementing performance-effective TM systems. After one decade of research, this article reviews the wide variety of scheduling techniques proposed for Software Transactional Memories. Based on peculiarities and differences of the adopted scheduling strategies, we propose a classification of the existing techniques, and we discuss the specific characteristics of each technique. Also, we analyse the results of previous evaluation and comparison studies, and we present the results of a new experimental study encompassing techniques based on different scheduling strategies. Finally, we identify potential strengths and weaknesses of the different techniques, as well as the issues that require to be further investigated
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