CLIC: Curriculum Learning and Imitation for object Control in non-rewarding environments

In this paper we study a new reinforcement learning setting where the environment is non-rewarding, contains several possibly related objects of various controllability, and where an apt agent Bob acts independently, with non-observable intentions. We argue that this setting defines a realistic scenario and we present a generic discrete-state discrete-action model of such environments. To learn in this environment, we propose an unsupervised reinforcement learning agent called CLIC for Curriculum Learning and Imitation for Control. CLIC learns to control individual objects in its environment, and imitates Bob's interactions with these objects. It selects objects to focus on when training and imitating by maximizing its learning progress. We show that CLIC is an effective baseline in our new setting. It can effectively observe Bob to gain control of objects faster, even if Bob is not explicitly teaching. It can also follow Bob when he acts as a mentor and provides ordered demonstrations. Finally, when Bob controls objects that the agent cannot, or in presence of a hierarchy between objects in the environment, we show that CLIC ignores non-reproducible and already mastered interactions with objects, resulting in a greater benefit from imitation

Lensless Imaging by Compressive Sensing

In this paper, we propose a lensless compressive imaging architecture. The architecture consists of two components, an aperture assembly and a sensor. No lens is used. The aperture assembly consists of a two dimensional array of aperture elements. The transmittance of each aperture element is independently controllable. The sensor is a single detection element. A compressive sensing matrix is implemented by adjusting the transmittance of the individual aperture elements according to the values of the sensing matrix. The proposed architecture is simple and reliable because no lens is used. The architecture can be used for capturing images of visible and other spectra such as infrared, or millimeter waves, in surveillance applications for detecting anomalies or extracting features such as speed of moving objects. Multiple sensors may be used with a single aperture assembly to capture multi-view images simultaneously. A prototype was built by using a LCD panel and a photoelectric sensor for capturing images of visible spectrum.Comment: Accepted ICIP 2013. 5 Pages, 7 Figures. arXiv admin note: substantial text overlap with arXiv:1302.178

CONTEST : a Controllable Test Matrix Toolbox for MATLAB

Large, sparse networks that describe complex interactions are a common feature across a number of disciplines, giving rise to many challenging matrix computational tasks. Several random graph models have been proposed that capture key properties of real-life networks. These models provide realistic, parametrized matrices for testing linear system and eigenvalue solvers. CONTEST (CONtrollable TEST matrices) is a random network toolbox for MATLAB that implements nine models. The models produce unweighted directed or undirected graphs; that is, symmetric or unsymmetric matrices with elements equal to zero or one. They have one or more parameters that affect features such as sparsity and characteristic pathlength and all can be of arbitrary dimension. Utility functions are supplied for rewiring, adding extra shortcuts and subsampling in order to create further classes of networks. Other utilities convert the adjacency matrices into real-valued coefficient matrices for naturally arising computational tasks that reduce to sparse linear system and eigenvalue problems

A Unified Dissertation on Bearing Rigidity Theory

This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-units bearings when exposed to deformations. The original contributions are twofold. The first one consists in the definition of a general framework for the statement of the principal definitions and results that are then particularized by evaluating the most studied metric spaces, providing a complete overview of the existing literature about the bearing rigidity theory. The second one rests on the determination of a necessary and sufficient condition guaranteeing the rigidity properties of a given multi-element system, independently of its metric space