Conflict-driven learning in AI planning state-space search

Many combinatorial computation problems in computer science can be cast as a reachability problem in an implicitly described, potentially huge, graph: the state space. State-space search is a versatile and widespread method to solve such reachability problems, but it requires some form of guidance to prevent exploring that combinatorial space exhaustively. Conflict-driven learning is an indispensable search ingredient for solving constraint satisfaction problems (most prominently, Boolean satisfiability). It guides search towards solutions by identifying conflicts during the search, i.e., search branches not leading to any solution, learning from them knowledge to avoid similar conflicts in the remainder of the search. This thesis adapts the conflict-driven learning methodology to more general classes of reachability problems. Specifically, our work is placed in AI planning. We consider goal-reachability objectives in classical planning and in planning under uncertainty. The canonical form of "conflicts" in this context are dead-end states, i.e., states from which the desired goal property cannot be reached. We pioneer methods for learning sound and generalizable dead-end knowledge from conflicts encountered during forward state-space search. This embraces the following core contributions: When acting under uncertainty, the presence of dead-end states may make it impossible to satisfy the goal property with absolute certainty. The natural planning objective then is MaxProb, maximizing the probability of reaching the goal. However, algorithms for MaxProb probabilistic planning are severely underexplored. We close this gap by developing a large design space of probabilistic state-space search methods, contributing new search algorithms, admissible state-space reduction techniques, and goal-probability bounds suitable for heuristic state-space search. We systematically explore this design space through an extensive empirical evaluation. The key to our conflict-driven learning algorithm adaptation are unsolvability detectors, i.e., goal-reachability overapproximations. We design three complementary families of such unsolvability detectors, building upon known techniques: critical-path heuristics, linear-programming-based heuristics, and dead-end traps. We develop search methods to identify conflicts in deterministic and probabilistic state spaces, and we develop suitable refinement methods for the different unsolvability detectors so to recognize these states. Arranged in a depth-first search, our techniques approach the elegance of conflict-driven learning in constraint satisfaction, featuring the ability to learn to refute search subtrees, and intelligent backjumping to the root cause of a conflict. We provide a comprehensive experimental evaluation, demonstrating that the proposed techniques yield state-of-the-art performance for finding plans for solvable classical planning tasks, proving classical planning tasks unsolvable, and solving MaxProb in probabilistic planning, on benchmarks where dead-end states abound.Viele kombinatorisch komplexe Berechnungsprobleme in der Informatik lassen sich als Erreichbarkeitsprobleme in einem implizit dargestellten, potenziell riesigen, Graphen - dem Zustandsraum - verstehen. Die Zustandsraumsuche ist eine weit verbreitete Methode, um solche Erreichbarkeitsprobleme zu lösen. Die Effizienz dieser Methode hängt aber maßgeblich von der Verwendung strikter Suchkontrollmechanismen ab. Das konfliktgesteuerte Lernen ist eine essenzielle Suchkomponente für das Lösen von Constraint-Satisfaction-Problemen (wie dem Erfüllbarkeitsproblem der Aussagenlogik), welches von Konflikten, also Fehlern in der Suche, neue Kontrollregeln lernt, die ähnliche Konflikte zukünftig vermeiden. In dieser Arbeit erweitern wir die zugrundeliegende Methodik auf Zielerreichbarkeitsfragen, wie sie im klassischen und probabilistischen Planen, einem Teilbereich der Künstlichen Intelligenz, auftauchen. Die kanonische Form von „Konflikten“ in diesem Kontext sind sog. Sackgassen, Zustände, von denen aus die Zielbedingung nicht erreicht werden kann. Wir präsentieren Methoden, die es ermöglichen, während der Zustandsraumsuche von solchen Konflikten korrektes und verallgemeinerbares Wissen über Sackgassen zu erlernen. Unsere Arbeit umfasst folgende Beiträge: Wenn der Effekt des Handelns mit Unsicherheiten behaftet ist, dann kann die Existenz von Sackgassen dazu führen, dass die Zielbedingung nicht unter allen Umständen erfüllt werden kann. Die naheliegendste Planungsbedingung in diesem Fall ist MaxProb, das Maximieren der Wahrscheinlichkeit, dass die Zielbedingung erreicht wird. Planungsalgorithmen für MaxProb sind jedoch wenig erforscht. Um diese Lücke zu schließen, erstellen wir einen umfangreichen Bausatz für Suchmethoden in probabilistischen Zustandsräumen, und entwickeln dabei neue Suchalgorithmen, Zustandsraumreduktionsmethoden, und Abschätzungen der Zielerreichbarkeitswahrscheinlichkeit, wie sie für heuristische Suchalgorithmen gebraucht werden. Wir explorieren den resultierenden Gestaltungsraum systematisch in einer breit angelegten empirischen Studie. Die Grundlage unserer Adaption des konfliktgesteuerten Lernens bilden Unerreichbarkeitsdetektoren. Wir konzipieren drei Familien solcher Detektoren basierend auf bereits bekannten Techniken: Kritische-Pfad Heuristiken, Heuristiken basierend auf linearer Optimierung, und Sackgassen-Fallen. Wir entwickeln Suchmethoden, um Konflikte in deterministischen und probabilistischen Zustandsräumen zu erkennen, sowie Methoden, um die verschiedenen Unerreichbarkeitsdetektoren basierend auf den erkannten Konflikten zu verfeinern. Instanziiert als Tiefensuche weisen unsere Techniken ähnliche Eigenschaften auf wie das konfliktgesteuerte Lernen für Constraint-Satisfaction-Problemen. Wir evaluieren die entwickelten Methoden empirisch, und zeigen dabei, dass das konfliktgesteuerte Lernen unter gewissen Voraussetzungen zu signifikanten Suchreduktionen beim Finden von Plänen in lösbaren klassischen Planungsproblemen, Beweisen der Unlösbarkeit von klassischen Planungsproblemen, und Lösen von MaxProb im probabilistischen Planen, führen kann

Quantum steering: a review with focus on semidefinite programming

Quantum steering refers to the non-classical correlations that can be observed between the outcomes of measurements applied on half of an entangled state and the resulting post-measured states that are left with the other party. From an operational point of view, a steering test can be seen as an entanglement test where one of the parties performs uncharacterised measurements. Thus, quantum steering is a form of quantum inseparability that lies in between the well-known notions of Bell nonlocality and entanglement. Moreover, quantum steering is also related to several asymmetric quantum information protocols where some of the parties are considered untrusted. Because of these facts, quantum steering has received a lot of attention both theoretically and experimentally. The main goal of this review is to give an overview of how to characterise quantum steering through semidefinite programming. This characterisation provides efficient numerical methods to address a number of problems, including steering detection, quantification, and applications. We also give a brief overview of some important results that are not directly related to semidefinite programming. Finally, we make available a collection of semidefinite programming codes that can be used to study the topics discussed in this articleComment: v2: 31 pages, 2 figures. Published version. New material added. Matlab codes to accompany this review can be found at https://git.io/vax9

Using topological analysis to support event-guided exploration in urban data

The explosion in the volume of data about urban environments has opened up opportunities to inform both policy and administration and thereby help governments improve the lives of their citizens, increase the efficiency of public services, and reduce the environmental harms of development. However, cities are complex systems and exploring the data they generate is challenging. The interaction between the various components in a city creates complex dynamics where interesting facts occur at multiple scales, requiring users to inspect a large number of data slices over time and space. Manual exploration of these slices is ineffective, time consuming, and in many cases impractical. In this paper, we propose a technique that supports event-guided exploration of large, spatio-temporal urban data. We model the data as time-varying scalar functions and use computational topology to automatically identify events in different data slices. To handle a potentially large number of events, we develop an algorithm to group and index them, thus allowing users to interactively explore and query event patterns on the fly. A visual exploration interface helps guide users towards data slices that display interesting events and trends. We demonstrate the effectiveness of our technique on two different data sets from New York City (NYC): data about taxi trips and subway service. We also report on the feedback we received from analysts at different NYC agencies

Quantum entanglement

All our former experience with application of quantum theory seems to say: {\it what is predicted by quantum formalism must occur in laboratory}. But the essence of quantum formalism - entanglement, recognized by Einstein, Podolsky, Rosen and Schr\"odinger - waited over 70 years to enter to laboratories as a new resource as real as energy. This holistic property of compound quantum systems, which involves nonclassical correlations between subsystems, is a potential for many quantum processes, including ``canonical'' ones: quantum cryptography, quantum teleportation and dense coding. However, it appeared that this new resource is very complex and difficult to detect. Being usually fragile to environment, it is robust against conceptual and mathematical tools, the task of which is to decipher its rich structure. This article reviews basic aspects of entanglement including its characterization, detection, distillation and quantifying. In particular, the authors discuss various manifestations of entanglement via Bell inequalities, entropic inequalities, entanglement witnesses, quantum cryptography and point out some interrelations. They also discuss a basic role of entanglement in quantum communication within distant labs paradigm and stress some peculiarities such as irreversibility of entanglement manipulations including its extremal form - bound entanglement phenomenon. A basic role of entanglement witnesses in detection of entanglement is emphasized.Comment: 110 pages, 3 figures, ReVTex4, Improved (slightly extended) presentation, updated references, minor changes, submitted to Rev. Mod. Phys

Transmit precoding and Bayesian detection for cognitive radio networks with limited channel state information

Field of study: Electrical & computer engineering.Dr. Dominic K. C. Ho, Dissertation Supervisor.Includes vita."May 2017."Cognitive radio (CR) represents a recent direction for enabling coexistence among heterogeneous networks. It can be a potential solution for the problem of scarce spectrum available for wireless communication systems. The study here investigates the underlay and interweave paradigms for the coexistence of CR network of secondary users (SUs) with a primary network of primary users (PUs). Under underlay mode, both networks communicates concurrently using the same resources. With interweave, SU is able to communicate as long as (some) PUs are not active. Usually, underlay or interweave employs multiple antennas at SU to use the spectral resources better and manage the interference towards the primary network. Performance of the CR network under either paradigm depends largely on the amount and quality of channel state information (CSI) available about the different communication links. In practical systems, often CSI at SU has uncertainty since it is deviated from the true one or is not known at all. This uncertainty should be accounted when designing the precoding schemes for SU or otherwise the interference impact on primary networks would violate the quality of service (QoS) requirements for PUs. This dissertation considers two cases regarding to the availability of CSI, the first one is when CSI is imperfect and the second is when CSI is completely not known. For the underlay mode, we investigate two manifolds. The first one addresses the problem of maximizing the throughput of a multiple-input multiple-output (MIMO) SU when CSI of the interference link to PU is completely unknown or partially known. We study the achievable rates for SU under two different QoS requirements for the PU: the conventional interference temperature and leakage rate metrics. When CSI is unavailable, we develop an iterative adaptation algorithm that satisfies the QoS constraint through exploiting the side-information in the primary communication network. When CSI is inaccurate, we model the uncertainty deterministically such that the uncertainty error belongs to a convex compact set defined by the Schatten norm. We design the precoder by following the worst case formulation. We further investigate the relation between the unknown and the inaccurate CSI cases when using the interference temperature metric, and reveal that the performance of the latter is not necessarily better than the former. The second manifold assumes there is uncertainty in the SU intended link for communication as well as in the interference link from SU to PU. Similar to the first manifold, we follow the deterministic modelling using Schatten norm for the uncertainty and apply the worst case philosophy. For a given precoder matrix, we find the worst uncertainty error in the set that describes the uncertainty in each link. We further develop an iterative numerical algorithm for the precoder. Simpler solutions for the precoder and the uncertainty errors are derived under some special instances of the Schatten norm and certain requirement of transmission power. For the interweave mode, we assume there is no CSI available at SU and derive a Bayesian detector for the proposed binary hypothesis problem. For the null or noise model, we propose a conjugate prior for the unknown spatial covariance matrix. For the alternative or data model, we propose a new class of improper priors for the covariance matrix. We introduce the fractional Bayes factor (FBF) approach to enhance the detection capability of the Bayes factor. The developed FBF is compared with those using the conjugate priors for both hypotheses and generalized likelihood ratio test (GLRT), and it yields significant improvement.Includes bibliographical references (pages 126-142)

Measurements of Solar Vector Magnetic Fields

Various aspects of the measurement of solar magnetic fields are presented. The four major subdivisions of the study are: (1) theoretical understanding of solar vector magnetic fields; (3) techniques for interpretation of observational data; and (4) techniques for data display

Acoustics for underwater neutrino telescopes

En esta tesis se tratan diferentes aspectos de la acústica presente en un telescopio submarino de neutrinos, principalmente en dos vertientes: en el sistema de posicionamiento acústico utilizado para la monitorización de las posiciones de los módulos ópticos presentes a lo largo del detector, así como en sistemas para detección acústica de neutrinos, técnica que actualmente está en fase de estudio. Todos los estudios realizados están enmarcados dentro de dos colaboraciones europeas para el diseño, construcción y operación de telescopios submarinos de neutrinos: Antares (en fase de operación) y KM3NET (en fase de diseño). Objetivos. Los objetivos de este trabajo pueden resumirse en los siguientes aspectos: - Estudios y análisis del sistema de posicionamiento acústico de Antares. Desarrollo del software para la para la automatización del procesado de los datos de dicho sistema e incorporación de los resultados en la base de datos del experimento. Análisis de los datos proporcionados por dicho sistema con el fin de validar su correcto funcionamiento. - Diseño y desarrollo del sistema de posicionamiento acústico para KM3NeT, telescopio unas 20 veces más grande que Antares. - Estudios para la evaluación de la generación acústica paramétrica para el desarrollo de un calibrador compacto capaz de generar señales tipo neutrino útiles en sistemas de detección acústica. Elementos de la metodología a destacar. Cabe destacar aquí que el trabajo se ha desarrollado en el marco de dos colaboraciones internacionales: ANTARES y KM3NeT, financiados con fondos europeos y nacionales. Por su contexto y el carácter de las actividades realizadas ha sido necesaria la formación en distintos campos: telescopios de neutrinos y astropartículas, pero también en otras áreas como la acústica submarina. Además, se ha desarrollado diversas capacidades y destrezas en diversos ámbitos: en instrumentación, en aplicaciones informáticas, en análisis de datos, etc. Más concretamente, se ha trabajado en aplicaciones informáticas para los desarrollos y análisis en ANTARES.Bou Cabo, M. (2011). Acoustics for underwater neutrino telescopes [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10989Palanci