2,379 research outputs found
Interference and communications among active network applications
This paper focuses on active networks applications and in
particular on the possible interactions among these applications. Active networking is a very promising research field which has been developed recently, and which poses several interesting challenges to network designers.
A number of proposals for e±cient active network architectures are already to be found in the literature. However, how two or more active network applications may interact has not being investigated so far. In this work, we consider a number of applications that have been designed to exploit the main features of active networks and we discuss what are the main benefits that these applications may derive from them. Then, we introduce some forms of interaction including interference and communications among applications, and identify the components of an active network architecture that are needed to support these forms of interaction. We conclude by presenting a brief example of an active network
application exploiting the concept of interaction
Recommended from our members
Enhancing Usability and Explainability of Data Systems
The recent growth of data science expanded its reach to an ever-growing user base of nonexperts, increasing the need for usability, understandability, and explainability in these systems. Enhancing usability makes data systems accessible to people with different skills and backgrounds alike, leading to democratization of data systems. Furthermore, proper understanding of data and data-driven systems is necessary for the users to trust the function of the systems that learn from data. Finally, data systems should be transparent: when a data system behaves unexpectedly or malfunctions, the users deserve proper explanation of what caused the observed incident. Unfortunately, most existing data systems offer limited usability and support for explanations: these systems are usable only by experts with sound technical skills, and even expert users are hindered by the lack of transparency into the systems\u27 inner workings and functions. The aim of my thesis is to bridge the usability gap between nonexpert users and complex data systems, aid all sort of users, including the expert ones, in data and system understanding, and provide explanations that help reason about unexpected outcomes involving data systems. Specifically, my thesis has the following three goals: (1) enhancing usability of data systems for nonexperts, (2) enable data understanding that can assist users in a variety of tasks such as achieving trust in data-driven machine learning, gaining data understanding, and data cleaning, and (3) explaining causes of unexpected outcomes involving data and data systems.
For enhancing usability, we focus on example-driven user intent discovery. We develop systems based on example-driven interactions in two different settings: querying relational databases and personalized document summarization. Towards data understanding, we develop a new data-profiling primitive that can characterize tuples for which a machine-learned model is likely to produce untrustworthy predictions. We also develop an explanation framework to explain causes of such untrustworthy predictions. Additionally, this new data-profiling primitive enables interactive data cleaning. Finally, we develop two explanation frameworks, tailored to provide explanations in debugging data system components, including the data itself. The explanation frameworks focus on explaining the root cause of a concurrent application\u27s intermittent failure and exposing issues in the data that cause a data-driven system to malfunction
A Distributed Architecture for Sharing Ecological Data Sets with Access and Usage Control Guarantees
Learning relational models with human interaction for planning in robotics
Automated planning has proven to be useful to solve problems where an agent has to maximize a reward function by executing actions. As planners have been improved to salve more expressive and difficult problems, there is an increasing interest in using planning to improve efficiency in robotic tasks. However, planners rely on a domain model, which has to be either handcrafted or learned. Although learning domain models can be very costly, recent approaches provide generalization capabilities and integrate human feedback to reduce the amount of experiences required to learn.
In this thesis we propase new methods that allow an agent with no previous knowledge to solve certain problems more efficiently by using task planning. First, we show how to apply probabilistic planning to improve robot performance in manipulation tasks (such as cleaning the dirt or clearing the tableware on a table). Planners obtain sequences of actions that get the best result in the long term, beating reactive strategies.
Second, we introduce new reinforcement learning algorithms where the agent can actively request demonstrations from a teacher to learn new actions and speed up the learning process. In particular, we propase an algorithm that allows the user to set the mÃnimum quality to be achieved, where a better quality also implies that a larger number of demonstrations will be requested .
Moreover, the learned model is analyzed to extract the unlearned or problematic parts of the model. This information allow the agent to provide guidance to the teacher when a demonstration is requested, and to avoid irrecoverable errors.
Finally, a new domain model learner is introduced that, in addition to relational probabilistic action models, can also learn exogenous effects. This learner can be integrated with existing planners and reinforcement learning algorithms to salve a wide range of problems.
In summary, we improve the use of learning and task planning to salve unknown tasks. The improvements allow an agent to obtain a larger benefit from planners, learn faster, balance the number of action executions and teacher demonstrations, avoid irrecoverable errors, interact with a teacher to solve difficult problems, and adapt to the behavior of other agents by learning their dynamics. All the proposed methods were compared with state-of-the-art approaches, and were also demonstrated in different scenarios, including challenging robotic tasks.La planificación automática ha probado ser de gran utilidad para resolver problemas en los que un agente tiene que ejecutar acciones para maximizar una función de recompensa. A medida que los planificadores han sido capaces de resolver problemas cada vez más complejos, ha habido un creciente interés por utilizar dichos planificadores para mejorar la eficiencia de tareas robóticas. Sin embargo, los planificadores requieren un modelo del dominio, el cual puede ser creado a mano o aprendido. Aunque aprender modelos automáticamente puede ser costoso, recientemente han aparecido métodos que permiten la interacción persona-máquina y generalizan el conocimiento para reducir la cantidad de experiencias requeridas para aprender. En esta tesis proponemos nuevos métodos que permiten a un agente sin conocimiento previo de la tarea resolver problemas de forma más eficiente mediante el uso de planificación automática. Comenzaremos mostrando cómo aplicar planificación probabilÃstica para mejorar la eficiencia de robots en tareas de manipulación (como limpiar suciedad o recoger una mesa). Los planificadores son capaces de obtener las secuencias de acciones que producen los mejores resultados a largo plazo, superando a las estrategias reactivas. Por otro lado, presentamos nuevos algoritmos de aprendizaje por refuerzo en los que el agente puede solicitar demostraciones a un profesor. Dichas demostraciones permiten al agente acelerar el aprendizaje o aprender nuevas acciones. En particular, proponemos un algoritmo que permite al usuario establecer la mÃnima suma de recompensas que es aceptable obtener, donde una recompensa más alta implica que se requerirán más demostraciones. Además, el modelo aprendido será analizado para identificar qué partes están incompletas o son problemáticas. Esta información permitirá al agente evitar errores irrecuperables y también guiar al profesor cuando se solicite una demostración. Finalmente, se ha introducido un nuevo método de aprendizaje para modelos de dominios que, además de obtener modelos relacionales de acciones probabilÃsticas, también puede aprender efectos exógenos. Mostraremos cómo integrar este método en algoritmos de aprendizaje por refuerzo para poder abordar una mayor cantidad de problemas. En resumen, hemos mejorado el uso de técnicas de aprendizaje y planificación para resolver tareas desconocidas a priori. Estas mejoras permiten a un agente aprovechar mejor los planificadores, aprender más rápido, elegir entre reducir el número de acciones ejecutadas o el número de demostraciones solicitadas, evitar errores irrecuperables, interactuar con un profesor para resolver problemas complejos, y adaptarse al comportamiento de otros agentes aprendiendo sus dinámicas. Todos los métodos propuestos han sido comparados con trabajos del estado del arte, y han sido evaluados en distintos escenarios, incluyendo tareas robóticas
A Mobile Robot Project
We are building a mobile robot which will roam around the AI lab observing and later perhaps doing. Our approach to building the robot and its controlling software differs from that used in many other projects in a number of ways. (1) We model the world as three dimensional rather than two. (2) We build no special environment for our robot and insist that it must operate in the same real world that we inhabit. (3) In order to adequately deal with uncertainty of perception and control we build relational maps rather than maps embedded in a coordinate system, and we maintain explicit models of all uncertainties. (4) We explicitly monitor the computational performance of the components of the control system, in order to refine the design of a real time control system for mobile robots based on a special purpose distributed computation engine. (5) We use vision as our primary sense and relegate acoustic sensors to local obstacle detection. (6) We use a new architecture for an intelligent system designed to provide integration of many early vision processes, and robust real-time performance even in cases of sensory overload, failure of certain early vision processes to deliver much information in particular situations, and computation module failure.MIT Artificial Intelligence Laborator
Consistent and efficient output-streams management in optimistic simulation platforms
Optimistic synchronization is considered an effective means for supporting Parallel Discrete Event Simulations. It relies on a speculative approach, where concurrent processes execute simulation events regardless of their safety, and consistency is ensured via proper rollback mechanisms, upon the a-posteriori detection of causal inconsistencies along the events' execution path. Interactions with the outside world (e.g. generation of output streams) are a well-known problem for rollback-based systems, since the outside world may have no notion of rollback. In this context, approaches for allowing the simulation modeler to generate consistent output rely on either the usage of ad-hoc APIs (which must be provided by the underlying simulation kernel) or temporary suspension of processing activities in order to wait for the final outcome (commit/rollback) associated with a speculatively-produced output. In this paper we present design indications and a reference implementation for an output streams' management subsystem which allows the simulation-model writer to rely on standard output-generation libraries (e.g. stdio) within code blocks associated with event processing. Further, the subsystem ensures that the produced output is consistent, namely associated with events that are eventually committed, and system-wide ordered along the simulation time axis. The above features jointly provide the illusion of a classical (simple to deal with) sequential programming model, which spares the developer from being aware that the simulation program is run concurrently and speculatively. We also show, via an experimental study, how the design/development optimizations we present lead to limited overhead, giving rise to the situation where the simulation run would have been carried out with near-to-zero or reduced output management cost. At the same time, the delay for materializing the output stream (making it available for any type of audit activity) is shown to be fairly limited and constant, especially for good mixtures of I/O-bound vs CPU-bound behaviors at the application level. Further, the whole output streams' management subsystem has been designed in order to provide scalability for I/O management on clusters. © 2013 ACM
- …