30,947 research outputs found
Model AI Assignments 2018
The Model AI Assignments session seeks to gather and disseminate the best assignment designs of the Artificial Intelligence (AI) Education community. Recognizing that assignments form the core of student learning experience, we here present abstracts of seven AI assignments from the 2018 session that are easily adoptable, playfully engaging, and flexible for a variety of instructor needs. Assignment specifications and supporting resources may be found at http://modelai.gettysburg.edu
microPhantom: Playing microRTS under uncertainty and chaos
This competition paper presents microPhantom, a bot playing microRTS and
participating in the 2020 microRTS AI competition. microPhantom is based on our
previous bot POAdaptive which won the partially observable track of the 2018
and 2019 microRTS AI competitions. In this paper, we focus on decision-making
under uncertainty, by tackling the Unit Production Problem with a method based
on a combination of Constraint Programming and decision theory. We show that
using our method to decide which units to train improves significantly the win
rate against the second-best microRTS bot from the partially observable track.
We also show that our method is resilient in chaotic environments, with a very
small loss of efficiency only. To allow replicability and to facilitate further
research, the source code of microPhantom is available, as well as the
Constraint Programming toolkit it uses
The Faculty Notebook, September 2019
The Faculty Notebook is published periodically by the Office of the Provost at Gettysburg College to bring to the attention of the campus community accomplishments and activities of academic interest. Faculty are encouraged to submit materials for consideration for publication to the Associate Provost for Faculty Development. Copies of this publication are available at the Office of the Provost
Formal Verification of Neural Network Controlled Autonomous Systems
In this paper, we consider the problem of formally verifying the safety of an
autonomous robot equipped with a Neural Network (NN) controller that processes
LiDAR images to produce control actions. Given a workspace that is
characterized by a set of polytopic obstacles, our objective is to compute the
set of safe initial conditions such that a robot trajectory starting from these
initial conditions is guaranteed to avoid the obstacles. Our approach is to
construct a finite state abstraction of the system and use standard
reachability analysis over the finite state abstraction to compute the set of
the safe initial states. The first technical problem in computing the finite
state abstraction is to mathematically model the imaging function that maps the
robot position to the LiDAR image. To that end, we introduce the notion of
imaging-adapted sets as partitions of the workspace in which the imaging
function is guaranteed to be affine. We develop a polynomial-time algorithm to
partition the workspace into imaging-adapted sets along with computing the
corresponding affine imaging functions. Given this workspace partitioning, a
discrete-time linear dynamics of the robot, and a pre-trained NN controller
with Rectified Linear Unit (ReLU) nonlinearity, the second technical challenge
is to analyze the behavior of the neural network. To that end, we utilize a
Satisfiability Modulo Convex (SMC) encoding to enumerate all the possible
segments of different ReLUs. SMC solvers then use a Boolean satisfiability
solver and a convex programming solver and decompose the problem into smaller
subproblems. To accelerate this process, we develop a pre-processing algorithm
that could rapidly prune the space feasible ReLU segments. Finally, we
demonstrate the efficiency of the proposed algorithms using numerical
simulations with increasing complexity of the neural network controller
AI Education Matters: Teaching Hidden Markov Models
In this column, we share resources for learning about and teaching Hidden Markov Models (HMMs). HMMs find many important applications in temporal pattern recognition tasks such as speech/handwriting/gesture recognition and robot localization. In such domains, we may have a finite state machine model with known state transition probabilities, state output probabilities, and state outputs, but lack knowledge of the states generating such outputs. HMMs are useful in framing problems where external sequential evidence is used to derive underlying state information (e.g. intended words and gestures). [excerpt
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