8,623 research outputs found
A Parameterisation of Algorithms for Distributed Constraint Optimisation via Potential Games
This paper introduces a parameterisation of learning algorithms for distributed constraint optimisation problems (DCOPs). This parameterisation encompasses many algorithms developed in both the computer science and game theory literatures. It is built on our insight that when formulated as noncooperative games, DCOPs form a subset of the class of potential games. This result allows us to prove convergence properties of algorithms developed in the computer science literature using game theoretic methods. Furthermore, our parameterisation can assist system designers by making the pros and cons of, and the synergies between, the various DCOP algorithm components clear
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
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
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