62,229 research outputs found
Ontological Representations of Software Patterns
This paper is based on and advocates the trend in software engineering of
extending the use of software patterns as means of structuring solutions to
software development problems (be they motivated by best practice or by company
interests and policies). The paper argues that, on the one hand, this
development requires tools for automatic organisation, retrieval and
explanation of software patterns. On the other hand, that the existence of such
tools itself will facilitate the further development and employment of patterns
in the software development process. The paper analyses existing pattern
representations and concludes that they are inadequate for the kind of
automation intended here. Adopting a standpoint similar to that taken in the
semantic web, the paper proposes that feasible solutions can be built on the
basis of ontological representations.Comment: 7 page
TOR: modular search with hookable disjunction
Horn Clause Programs have a natural exhaustive depth-first procedural
semantics. However, for many programs this semantics is
ineffective. In order to compute useful solutions, one needs the
ability to modify the search method that explores the alternative
execution branches.
Tor, a well-defined hook into Prolog disjunction, provides this ability.
It is light-weight thanks to its library approach and efficient
because it is based on program transformation.
Tor is general enough to mimic search-modifying
predicates like ECLiPSe's search/6. Moreover, Tor supports
modular composition of search methods and other hooks.
The Tor library is already
provided and used as an add-on to SWI-Prolog.publisher: Elsevier
articletitle: Tor: Modular search with hookable disjunction
journaltitle: Science of Computer Programming
articlelink: http://dx.doi.org/10.1016/j.scico.2013.05.008
content_type: article
copyright: Copyright © 2013 Elsevier B.V. All rights reserved.status: publishe
Human-Machine Collaborative Optimization via Apprenticeship Scheduling
Coordinating agents to complete a set of tasks with intercoupled temporal and
resource constraints is computationally challenging, yet human domain experts
can solve these difficult scheduling problems using paradigms learned through
years of apprenticeship. A process for manually codifying this domain knowledge
within a computational framework is necessary to scale beyond the
``single-expert, single-trainee" apprenticeship model. However, human domain
experts often have difficulty describing their decision-making processes,
causing the codification of this knowledge to become laborious. We propose a
new approach for capturing domain-expert heuristics through a pairwise ranking
formulation. Our approach is model-free and does not require enumerating or
iterating through a large state space. We empirically demonstrate that this
approach accurately learns multifaceted heuristics on a synthetic data set
incorporating job-shop scheduling and vehicle routing problems, as well as on
two real-world data sets consisting of demonstrations of experts solving a
weapon-to-target assignment problem and a hospital resource allocation problem.
We also demonstrate that policies learned from human scheduling demonstration
via apprenticeship learning can substantially improve the efficiency of a
branch-and-bound search for an optimal schedule. We employ this human-machine
collaborative optimization technique on a variant of the weapon-to-target
assignment problem. We demonstrate that this technique generates solutions
substantially superior to those produced by human domain experts at a rate up
to 9.5 times faster than an optimization approach and can be applied to
optimally solve problems twice as complex as those solved by a human
demonstrator.Comment: Portions of this paper were published in the Proceedings of the
International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and
in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper
consists of 50 pages with 11 figures and 4 table
Task-level robot programming: Integral part of evolution from teleoperation to autonomy
An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks
Reinforcement Learning (RL) algorithms have found limited success beyond
simulated applications, and one main reason is the absence of safety guarantees
during the learning process. Real world systems would realistically fail or
break before an optimal controller can be learned. To address this issue, we
propose a controller architecture that combines (1) a model-free RL-based
controller with (2) model-based controllers utilizing control barrier functions
(CBFs) and (3) on-line learning of the unknown system dynamics, in order to
ensure safety during learning. Our general framework leverages the success of
RL algorithms to learn high-performance controllers, while the CBF-based
controllers both guarantee safety and guide the learning process by
constraining the set of explorable polices. We utilize Gaussian Processes (GPs)
to model the system dynamics and its uncertainties.
Our novel controller synthesis algorithm, RL-CBF, guarantees safety with high
probability during the learning process, regardless of the RL algorithm used,
and demonstrates greater policy exploration efficiency. We test our algorithm
on (1) control of an inverted pendulum and (2) autonomous car-following with
wireless vehicle-to-vehicle communication, and show that our algorithm attains
much greater sample efficiency in learning than other state-of-the-art
algorithms and maintains safety during the entire learning process.Comment: Published in AAAI 201
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