103,407 research outputs found
The Green Choice: Learning and Influencing Human Decisions on Shared Roads
Autonomous vehicles have the potential to increase the capacity of roads via
platooning, even when human drivers and autonomous vehicles share roads.
However, when users of a road network choose their routes selfishly, the
resulting traffic configuration may be very inefficient. Because of this, we
consider how to influence human decisions so as to decrease congestion on these
roads. We consider a network of parallel roads with two modes of
transportation: (i) human drivers who will choose the quickest route available
to them, and (ii) ride hailing service which provides an array of autonomous
vehicle ride options, each with different prices, to users. In this work, we
seek to design these prices so that when autonomous service users choose from
these options and human drivers selfishly choose their resulting routes, road
usage is maximized and transit delay is minimized. To do so, we formalize a
model of how autonomous service users make choices between routes with
different price/delay values. Developing a preference-based algorithm to learn
the preferences of the users, and using a vehicle flow model related to the
Fundamental Diagram of Traffic, we formulate a planning optimization to
maximize a social objective and demonstrate the benefit of the proposed routing
and learning scheme.Comment: Submitted to CDC 201
A Fast Integrated Planning and Control Framework for Autonomous Driving via Imitation Learning
For safe and efficient planning and control in autonomous driving, we need a
driving policy which can achieve desirable driving quality in long-term horizon
with guaranteed safety and feasibility. Optimization-based approaches, such as
Model Predictive Control (MPC), can provide such optimal policies, but their
computational complexity is generally unacceptable for real-time
implementation. To address this problem, we propose a fast integrated planning
and control framework that combines learning- and optimization-based approaches
in a two-layer hierarchical structure. The first layer, defined as the "policy
layer", is established by a neural network which learns the long-term optimal
driving policy generated by MPC. The second layer, called the "execution
layer", is a short-term optimization-based controller that tracks the reference
trajecotries given by the "policy layer" with guaranteed short-term safety and
feasibility. Moreover, with efficient and highly-representative features, a
small-size neural network is sufficient in the "policy layer" to handle many
complicated driving scenarios. This renders online imitation learning with
Dataset Aggregation (DAgger) so that the performance of the "policy layer" can
be improved rapidly and continuously online. Several exampled driving scenarios
are demonstrated to verify the effectiveness and efficiency of the proposed
framework
Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning
The symposium presented issues involved in the development of scheduling systems that can deal with resource and time limitations. To qualify, a system must be implemented and tested to some degree on non-trivial problems (ideally, on real-world problems). However, a system need not be fully deployed to qualify. Systems that schedule actions in terms of metric time constraints typically represent and reason about an external numeric clock or calendar and can be contrasted with those systems that represent time purely symbolically. The following topics are discussed: integrating planning and scheduling; integrating symbolic goals and numerical utilities; managing uncertainty; incremental rescheduling; managing limited computation time; anytime scheduling and planning algorithms, systems; dependency analysis and schedule reuse; management of schedule and plan execution; and incorporation of discrete event techniques
Navigation Paths to Adoption Through the Alaska Foster Care System: A Resource Guide for Potential Adoptive Parents
Project Submitted in Partial Fulfillment of the Requirements
for the Degree of
MASTER OF SCIENCE
in
Project ManagementAlaska has a higher than national average rate of adoption from foster care. While just over 20% of
children in foster care nationally are discharged from state custody through adoption Alaska has nearly
30% of foster children discharged from state custody through adoption. There are a number of programs
and resources available for foster parents and families interested in adopting through foster care in
Alaska. However, there lacks a comprehensive single-point reference guide to explore the various paths.
This research was conducted to identify resources available for families interested in learning about paths
to adopt from foster care in Alaska as well as what gaps are perceived by families who have begun the
process of adopting through foster care.
A literature review was conducted and specific adoption program information was reduced to a synopsis
or flowchart to generally outline each path to adoption through foster care. The final outcome of the
project was a resource guide that outlines basic requirements to adopt through foster care and a number of
programs to do so. The paths covered by this guide are the ACRF Adoption Learning Path, Legal-Risk
Adoptions, OCS Recruitment of Legally Free Children, Wendy’s Wonderful Kids, ACRF PARKA
Program, Alaska Adoption Exchange, and Tribal and ICWA Adoption.Title Page / Table of Contents / List of Exhibits / List of Appendices / Abstract / Introduction / Planning, Executing and Controlling / Research Methods / Literature Review / Path 1: ACRF Adoption Learning Path / Path 2: Foster/Adoption (Legal-Risk) / Path 3: OCS Recruitment for Adoption of Legally Free Children / Path 4: Wendy's Wonderful Kids (Legally Free Children) / Path 5: ACRF PARKA Program / Path 6: Northwest Adoption Exchange / Path 7: Tribal and ICWA Adoption / Conclusions / References / Appendice
Learning Points and Routes to Recommend Trajectories
The problem of recommending tours to travellers is an important and broadly
studied area. Suggested solutions include various approaches of
points-of-interest (POI) recommendation and route planning. We consider the
task of recommending a sequence of POIs, that simultaneously uses information
about POIs and routes. Our approach unifies the treatment of various sources of
information by representing them as features in machine learning algorithms,
enabling us to learn from past behaviour. Information about POIs are used to
learn a POI ranking model that accounts for the start and end points of tours.
Data about previous trajectories are used for learning transition patterns
between POIs that enable us to recommend probable routes. In addition, a
probabilistic model is proposed to combine the results of POI ranking and the
POI to POI transitions. We propose a new F score on pairs of POIs that
capture the order of visits. Empirical results show that our approach improves
on recent methods, and demonstrate that combining points and routes enables
better trajectory recommendations
Individual and Domain Adaptation in Sentence Planning for Dialogue
One of the biggest challenges in the development and deployment of spoken
dialogue systems is the design of the spoken language generation module. This
challenge arises from the need for the generator to adapt to many features of
the dialogue domain, user population, and dialogue context. A promising
approach is trainable generation, which uses general-purpose linguistic
knowledge that is automatically adapted to the features of interest, such as
the application domain, individual user, or user group. In this paper we
present and evaluate a trainable sentence planner for providing restaurant
information in the MATCH dialogue system. We show that trainable sentence
planning can produce complex information presentations whose quality is
comparable to the output of a template-based generator tuned to this domain. We
also show that our method easily supports adapting the sentence planner to
individuals, and that the individualized sentence planners generally perform
better than models trained and tested on a population of individuals. Previous
work has documented and utilized individual preferences for content selection,
but to our knowledge, these results provide the first demonstration of
individual preferences for sentence planning operations, affecting the content
order, discourse structure and sentence structure of system responses. Finally,
we evaluate the contribution of different feature sets, and show that, in our
application, n-gram features often do as well as features based on higher-level
linguistic representations
- …