Driving with Style: Inverse Reinforcement Learning in General-Purpose Planning for Automated Driving

Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable situations may occur in which behavior planners fail to match predefined behavior templates. Recently, general-purpose planners have been introduced, combining behavior and local motion planning. These general-purpose planners allow behavior-aware motion planning given a single reward function. However, two challenges arise: First, this function has to map a complex feature space into rewards. Second, the reward function has to be manually tuned by an expert. Manually tuning this reward function becomes a tedious task. In this paper, we propose an approach that relies on human driving demonstrations to automatically tune reward functions. This study offers important insights into the driving style optimization of general-purpose planners with maximum entropy inverse reinforcement learning. We evaluate our approach based on the expected value difference between learned and demonstrated policies. Furthermore, we compare the similarity of human driven trajectories with optimal policies of our planner under learned and expert-tuned reward functions. Our experiments show that we are able to learn reward functions exceeding the level of manual expert tuning without prior domain knowledge.Comment: Appeared at IROS 2019. Accepted version. Added/updated footnote, minor correction in preliminarie

QCD Sum Rules and Compton Scattering

We extend QCD sum rule analysis to moderate energy fixed angle Compton scattering. In this kinematic region there is a strong similarity to the sum rule treatment of electromagnetic form factors, although the four-point amplitude requires a modification of the Borel transform. To illustrate our method, we derive the sum rules for helicity amplitudes in pion Compton scattering and estimate their large-$t$ behavior in the local duality approximation.Comment: 30 pages in Latex, 6 figures not included, available upon request (send email to: [email protected]), ITP-SB-92-70, CEBAF-TH-92-3

Local properties of extended self-similarity in 3D turbulence

Using a generalization of extended self-similarity we have studied local scaling properties of 3D turbulence in a direct numerical simulation. We have found that these properties are consistent with lognormal-like behavior of energy dissipation fluctuations with moderate amplitudes for space scales $r$ beginning from Kolmogorov length $\eta$ up to the largest scales, and in the whole range of the Reynolds numbers: $50 \leq R_{\lambda} \leq 459$. The locally determined intermittency exponent $\mu(r)$ varies with $r$; it has a maximum at scale $r=14 \eta$, independent of $R_{\lambda}$.Comment: 4 pages, 5 figure

Tensor-Based Link Prediction in Intermittently Connected Wireless Networks

Through several studies, it has been highlighted that mobility patterns in mobile networks are driven by human behaviors. This effect has been particularly observed in intermittently connected networks like DTN (Delay Tolerant Networks). Given that common social intentions generate similar human behavior, it is relevant to exploit this knowledge in the network protocols design, e.g. to identify the closeness degree between two nodes. In this paper, we propose a temporal link prediction technique for DTN which quantifies the behavior similarity between each pair of nodes and makes use of it to predict future links. Our prediction method keeps track of the spatio-temporal aspects of nodes behaviors organized as a third-order tensor that aims to records the evolution of the network topology. After collapsing the tensor information, we compute the degree of similarity for each pair of nodes using the Katz measure. This metric gives us an indication on the link occurrence between two nodes relying on their closeness. We show the efficiency of this method by applying it on three mobility traces: two real traces and one synthetic trace. Through several simulations, we demonstrate the effectiveness of the technique regarding another approach based on a similarity metric used in DTN. The validity of this method is proven when the computation of score is made in a distributed way (i.e. with local information). We attest that the tensor-based technique is effective for temporal link prediction applied to the intermittently connected networks. Furthermore, we think that this technique can go beyond the realm of DTN and we believe this can be further applied on every case of figure in which there is a need to derive the underlying social structure of a network of mobile users.Comment: 13 pages, 9 figures, 8 tables, submitted to the International Journal of Computer and Telecommunications Networking (COMNET

Tracking Topology Dynamicity for Link Prediction in Intermittently Connected Wireless Networks

Through several studies, it has been highlighted that mobility patterns in mobile networks are driven by human behaviors. This effect has been particularly observed in intermittently connected networks like DTN (Delay Tolerant Networks). Given that common social intentions generate similar human behavior, it is relevant to exploit this knowledge in the network protocols design, e.g. to identify the closeness degree between two nodes. In this paper, we propose a temporal link prediction technique for DTN which quantifies the behavior similarity between each pair of nodes and makes use of it to predict future links. We attest that the tensor-based technique is effective for temporal link prediction applied to the intermittently connected networks. The validity of this method is proved when the prediction is made in a distributed way (i.e. with local information) and its performance is compared to well-known link prediction metrics proposed in the literature.Comment: Published in the proceedings of the 8th International Wireless Communications and Mobile Computing Conference (IWCMC), Limassol, Cyprus, 201

Clustering of solutions in hard satisfiability problems

We study the structure of the solution space and behavior of local search methods on random 3-SAT problems close to the SAT/UNSAT transition. Using the overlap measure of similarity between different solutions found on the same problem instance we show that the solution space is shrinking as a function of alpha. We consider chains of satisfiability problems, where clauses are added sequentially. In each such chain, the overlap distribution is first smooth, and then develops a tiered structure, indicating that the solutions are found in well separated clusters. On chains of not too large instances, all solutions are eventually observed to be in only one small cluster before vanishing. This condensation transition point is estimated to be alpha_c = 4.26. The transition approximately obeys finite-size scaling with an apparent critical exponent of about 1.7. We compare the solutions found by a local heuristic, ASAT, and the Survey Propagation algorithm up to alpha_c.Comment: 8 pages, 9 figure