92,731 research outputs found
Human-Machine Collaborative Optimization via Apprenticeship Scheduling
Coordinating agents to complete a set of tasks with intercoupled temporal and
resource constraints is computationally challenging, yet human domain experts
can solve these difficult scheduling problems using paradigms learned through
years of apprenticeship. A process for manually codifying this domain knowledge
within a computational framework is necessary to scale beyond the
``single-expert, single-trainee" apprenticeship model. However, human domain
experts often have difficulty describing their decision-making processes,
causing the codification of this knowledge to become laborious. We propose a
new approach for capturing domain-expert heuristics through a pairwise ranking
formulation. Our approach is model-free and does not require enumerating or
iterating through a large state space. We empirically demonstrate that this
approach accurately learns multifaceted heuristics on a synthetic data set
incorporating job-shop scheduling and vehicle routing problems, as well as on
two real-world data sets consisting of demonstrations of experts solving a
weapon-to-target assignment problem and a hospital resource allocation problem.
We also demonstrate that policies learned from human scheduling demonstration
via apprenticeship learning can substantially improve the efficiency of a
branch-and-bound search for an optimal schedule. We employ this human-machine
collaborative optimization technique on a variant of the weapon-to-target
assignment problem. We demonstrate that this technique generates solutions
substantially superior to those produced by human domain experts at a rate up
to 9.5 times faster than an optimization approach and can be applied to
optimally solve problems twice as complex as those solved by a human
demonstrator.Comment: Portions of this paper were published in the Proceedings of the
International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and
in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper
consists of 50 pages with 11 figures and 4 table
Physically Embedded Genetic Algorithm Learning in Multi-Robot Scenarios: The PEGA algorithm
We present experiments in which a group of autonomous mobile robots learn to perform fundamental sensor-motor tasks through a collaborative learning process. Behavioural strategies, i.e. motor responses to sensory stimuli, are encoded by means of genetic strings stored on the individual robots, and adapted through a genetic algorithm (Mitchell, 1998) executed by the entire robot collective: robots communicate their own strings and corresponding fitness to each other, and then execute a genetic algorithm to improve their individual behavioural strategy.
The robots acquired three different sensormotor competences, as well as the ability to select one of two, or one of three behaviours depending on context ("behaviour management"). Results show that fitness indeed increases with increasing learning time, and the analysis of the acquired behavioural strategies demonstrates that they are effective in accomplishing the desired task
Towards engineering ontologies for cognitive profiling of agents on the semantic web
Research shows that most agent-based collaborations
suffer from lack of flexibility. This is due to the fact that
most agent-based applications assume pre-defined
knowledge of agents’ capabilities and/or neglect basic
cognitive and interactional requirements in multi-agent
collaboration. The highlight of this paper is that it brings
cognitive models (inspired from cognitive sciences and HCI)
proposing architectural and knowledge-based requirements
for agents to structure ontological models for cognitive
profiling in order to increase cognitive awareness between
themselves, which in turn promotes flexibility, reusability
and predictability of agent behavior; thus contributing
towards minimizing cognitive overload incurred on humans.
The semantic web is used as an action mediating space,
where shared knowledge base in the form of ontological
models provides affordances for improving cognitive
awareness
Collaborative Deep Reinforcement Learning for Joint Object Search
We examine the problem of joint top-down active search of multiple objects
under interaction, e.g., person riding a bicycle, cups held by the table, etc..
Such objects under interaction often can provide contextual cues to each other
to facilitate more efficient search. By treating each detector as an agent, we
present the first collaborative multi-agent deep reinforcement learning
algorithm to learn the optimal policy for joint active object localization,
which effectively exploits such beneficial contextual information. We learn
inter-agent communication through cross connections with gates between the
Q-networks, which is facilitated by a novel multi-agent deep Q-learning
algorithm with joint exploitation sampling. We verify our proposed method on
multiple object detection benchmarks. Not only does our model help to improve
the performance of state-of-the-art active localization models, it also reveals
interesting co-detection patterns that are intuitively interpretable
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