Goal-Directed Planning for Habituated Agents by Active Inference Using a Variational Recurrent Neural Network

It is crucial to ask how agents can achieve goals by generating action plans using only partial models of the world acquired through habituated sensory-motor experiences. Although many existing robotics studies use a forward model framework, there are generalization issues with high degrees of freedom. The current study shows that the predictive coding (PC) and active inference (AIF) frameworks, which employ a generative model, can develop better generalization by learning a prior distribution in a low dimensional latent state space representing probabilistic structures extracted from well habituated sensory-motor trajectories. In our proposed model, learning is carried out by inferring optimal latent variables as well as synaptic weights for maximizing the evidence lower bound, while goal-directed planning is accomplished by inferring latent variables for maximizing the estimated lower bound. Our proposed model was evaluated with both simple and complex robotic tasks in simulation, which demonstrated sufficient generalization in learning with limited training data by setting an intermediate value for a regularization coefficient. Furthermore, comparative simulation results show that the proposed model outperforms a conventional forward model in goal-directed planning, due to the learned prior confining the search of motor plans within the range of habituated trajectories.Comment: 30 pages, 19 figure

BARD: Better Automated Redistricting

BARD is the first (and at time of writing, only) open source software package for general redistricting and redistricting analysis. BARD provides methods to create, display, compare, edit, automatically refine, evaluate, and profile political districting plans. BARD aims to provide a framework for scientific analysis of redistricting plans and to facilitate wider public participation in the creation of new plans. BARD facilitates map creation and refinement through command-line, graphical user interface, and automatic methods. Since redistricting is a computationally complex partitioning problem not amenable to an exact optimization solution, BARD implements a variety of selectable metaheuristics that can be used to refine existing or randomly-generated redistricting plans based on user-determined criteria. Furthermore, BARD supports automated generation of redistricting plans and profiling of plans by assigning different weights to various criteria, such as district compactness or equality of population. This functionality permits exploration of trade-offs among criteria. The intent of a redistricting authority may be explored by examining these trade-offs and inferring which reasonably observable plans were not adopted. Redistricting is a computationally-intensive problem for even modest-sized states. Performance is thus an important consideration in BARD's design and implementation. The program implements performance enhancements such as evaluation caching, explicit memory management, and distributed computing across snow clusters

Intentions and Information in Discourse

This paper is about the flow of inference between communicative intentions, discourse structure and the domain during discourse processing. We augment a theory of discourse interpretation with a theory of distinct mental attitudes and reasoning about them, in order to provide an account of how the attitudes interact with reasoning about discourse structure

Classifying types of gesture and inferring intent

In order to infer intent from gesture, a rudimentary classification of types of gestures into five main classes is introduced. The classification is intended as a basis for incorporating the understanding of gesture into human-robot interaction (HRI). Some requirements for the operational classification of gesture by a robot interacting with humans are also suggested

Intent inferencing with a model-based operator's associate

A portion of the Operator Function Model Expert System (OFMspert) research project is described. OFMspert is an architecture for an intelligent operator's associate or assistant that can aid the human operator of a complex, dynamic system. Intelligent aiding requires both understanding and control. The understanding (i.e., intent inferencing) ability of the operator's associate is discussed. Understanding or intent inferencing requires a model of the human operator; the usefulness of an intelligent aid depends directly on the fidelity and completeness of its underlying model. The model chosen for this research is the operator function model (OFM). The OFM represents operator functions, subfunctions, tasks, and actions as a heterarchic-hierarchic network of finite state automata, where the arcs in the network are system triggering events. The OFM provides the structure for intent inferencing in that operator functions and subfunctions correspond to likely operator goals and plans. A blackboard system similar to that of Human Associative Processor (HASP) is proposed as the implementation of intent inferencing function. This system postulates operator intentions based on current system state and attempts to interpret observed operator actions in light of these hypothesized intentions