109,100 research outputs found
POWERPLAY: Training an Increasingly General Problem Solver by Continually Searching for the Simplest Still Unsolvable Problem
Most of computer science focuses on automatically solving given computational
problems. I focus on automatically inventing or discovering problems in a way
inspired by the playful behavior of animals and humans, to train a more and
more general problem solver from scratch in an unsupervised fashion. Consider
the infinite set of all computable descriptions of tasks with possibly
computable solutions. The novel algorithmic framework POWERPLAY (2011)
continually searches the space of possible pairs of new tasks and modifications
of the current problem solver, until it finds a more powerful problem solver
that provably solves all previously learned tasks plus the new one, while the
unmodified predecessor does not. Wow-effects are achieved by continually making
previously learned skills more efficient such that they require less time and
space. New skills may (partially) re-use previously learned skills. POWERPLAY's
search orders candidate pairs of tasks and solver modifications by their
conditional computational (time & space) complexity, given the stored
experience so far. The new task and its corresponding task-solving skill are
those first found and validated. The computational costs of validating new
tasks need not grow with task repertoire size. POWERPLAY's ongoing search for
novelty keeps breaking the generalization abilities of its present solver. This
is related to Goedel's sequence of increasingly powerful formal theories based
on adding formerly unprovable statements to the axioms without affecting
previously provable theorems. The continually increasing repertoire of problem
solving procedures can be exploited by a parallel search for solutions to
additional externally posed tasks. POWERPLAY may be viewed as a greedy but
practical implementation of basic principles of creativity. A first
experimental analysis can be found in separate papers [53,54].Comment: 21 pages, additional connections to previous work, references to
first experiments with POWERPLA
Feedback Controlled Software Systems
Software systems generally suffer from a certain fragility in the face of disturbances such as bugs, unforeseen user input, unmodeled interactions with other software components, and so on. A single such disturbance can make the machine on which the software is executing hang or crash. We postulate that what is required to address this fragility is a general means of using feedback to stabilize these systems. In this paper we develop a preliminary dynamical systems model of an arbitrary iterative software process along with the conceptual framework for stabilizing it in the presence of disturbances. To keep the computational requirements of the controllers low, randomization and approximation are used. We describe our initial attempts to apply the model to a faulty list sorter, using feedback to improve its performance. Methods by which software robustness can be enhanced by distributing a task between nodes each of which are capable of selecting the best input to process are also examined, and the particular case of a sorting system consisting of a network of partial sorters, some of which may be buggy or even malicious, is examined
Automatic generation of robot and manual assembly plans using octrees
This paper aims to investigate automatic assembly planning for robot and manual assembly. The octree decomposition technique is applied to approximate CAD models with an octree representation which are then used to generate robot and manual assembly plans. An assembly planning system able to generate assembly plans was developed to build these prototype models. Octree decomposition is an effective assembly planning tool. Assembly plans can automatically be generated for robot and manual assembly using octree models. Research limitations/implications - One disadvantage of the octree decomposition technique is that it approximates a part model with cubes instead of using the actual model. This limits its use and applications when complex assemblies must be planned, but in the context of prototyping can allow a rough component to be formed which can later be finished by hand. Assembly plans can be generated using octree decomposition, however, new algorithms must be developed to overcome its limitations
On the Complexity of Searching in Trees: Average-case Minimization
We focus on the average-case analysis: A function w : V -> Z+ is given which
defines the likelihood for a node to be the one marked, and we want the
strategy that minimizes the expected number of queries. Prior to this paper,
very little was known about this natural question and the complexity of the
problem had remained so far an open question.
We close this question and prove that the above tree search problem is
NP-complete even for the class of trees with diameter at most 4. This results
in a complete characterization of the complexity of the problem with respect to
the diameter size. In fact, for diameter not larger than 3 the problem can be
shown to be polynomially solvable using a dynamic programming approach.
In addition we prove that the problem is NP-complete even for the class of
trees of maximum degree at most 16. To the best of our knowledge, the only
known result in this direction is that the tree search problem is solvable in
O(|V| log|V|) time for trees with degree at most 2 (paths).
We match the above complexity results with a tight algorithmic analysis. We
first show that a natural greedy algorithm attains a 2-approximation.
Furthermore, for the bounded degree instances, we show that any optimal
strategy (i.e., one that minimizes the expected number of queries) performs at
most O(\Delta(T) (log |V| + log w(T))) queries in the worst case, where w(T) is
the sum of the likelihoods of the nodes of T and \Delta(T) is the maximum
degree of T. We combine this result with a non-trivial exponential time
algorithm to provide an FPTAS for trees with bounded degree
Info-Greedy sequential adaptive compressed sensing
We present an information-theoretic framework for sequential adaptive
compressed sensing, Info-Greedy Sensing, where measurements are chosen to
maximize the extracted information conditioned on the previous measurements. We
show that the widely used bisection approach is Info-Greedy for a family of
-sparse signals by connecting compressed sensing and blackbox complexity of
sequential query algorithms, and present Info-Greedy algorithms for Gaussian
and Gaussian Mixture Model (GMM) signals, as well as ways to design sparse
Info-Greedy measurements. Numerical examples demonstrate the good performance
of the proposed algorithms using simulated and real data: Info-Greedy Sensing
shows significant improvement over random projection for signals with sparse
and low-rank covariance matrices, and adaptivity brings robustness when there
is a mismatch between the assumed and the true distributions.Comment: Preliminary results presented at Allerton Conference 2014. To appear
in IEEE Journal Selected Topics on Signal Processin
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