Path selection system development and evaluation for a Martian roving vehicle

A path selection system evaluation test procedure has been developed to enhance the analysis capability of an existing digital computer simulation package. The procedure investigates the obstacle avoidance ability of a path selection system on a sequence of test terrains with and without random effects. Using the standard test procedure a proposed mid-range sensor system has been evaluated and recommendations directed at improving the performance of the system have been made. In addition, the initial development and evaluation of a short range sensor system has been undertaken

Using Avida to test the effects of natural selection on phylogenetic reconstruction methods

Phylogenetic trees group organisms by their ancestral relationships. There are a number of distinct algorithms used to reconstruct these trees from molecular sequence data, but different methods sometimes give conflicting results. Since there are few precisely known phylogenies, simulations are typically used to test the quality of reconstruction algorithms. These simulations randomly evolve strings of symbols to produce a tree, and then the algorithms are run with the tree leaves as inputs. Here we use Avida to test two widely used reconstruction methods, which gives us the chance to observe the effect of natural selection on tree reconstruction. We find that if the organisms undergo natural selection between branch points, the methods will be successful even on very large time scales. However, these algorithms often falter when selection is absent

Sequential learning without feedback

In many security and healthcare systems a sequence of features/sensors/tests are used for detection and diagnosis. Each test outputs a prediction of the latent state, and carries with it inherent costs. Our objective is to {\it learn} strategies for selecting tests to optimize accuracy \& costs. Unfortunately it is often impossible to acquire in-situ ground truth annotations and we are left with the problem of unsupervised sensor selection (USS). We pose USS as a version of stochastic partial monitoring problem with an {\it unusual} reward structure (even noisy annotations are unavailable). Unsurprisingly no learner can achieve sublinear regret without further assumptions. To this end we propose the notion of weak-dominance. This is a condition on the joint probability distribution of test outputs and latent state and says that whenever a test is accurate on an example, a later test in the sequence is likely to be accurate as well. We empirically verify that weak dominance holds on real datasets and prove that it is a maximal condition for achieving sublinear regret. We reduce USS to a special case of multi-armed bandit problem with side information and develop polynomial time algorithms that achieve sublinear regret

Learning by Helping: A Bounded Rationality Model of Mentoring

Within an organization, a bounded rational principal organizes a promotion test based on a sequence of test regarding candidates' relative performances. We assume the principal to suffer from limited ability to rank the performances, only identifying the best in each test. Furthermore, he satisfies the expected gains do not decreases whit the information generated by additional tests. Then, mentoring is shown to improve the information about candidates' ability when the principal offers help to the current best candidate provided by a manager promoted after a similar contest.Mentoring; Selection; Contests; Bounded Rationality

Sequential learning without feedback

In many security and healthcare systems a sequence of features/sensors/tests are used for detection and diagnosis. Each test outputs a prediction of the latent state, and carries with it inherent costs. Our objective is to {\it learn} strategies for selecting tests to optimize accuracy \& costs. Unfortunately it is often impossible to acquire in-situ ground truth annotations and we are left with the problem of unsupervised sensor selection (USS). We pose USS as a version of stochastic partial monitoring problem with an {\it unusual} reward structure (even noisy annotations are unavailable). Unsurprisingly no learner can achieve sublinear regret without further assumptions. To this end we propose the notion of weak-dominance. This is a condition on the joint probability distribution of test outputs and latent state and says that whenever a test is accurate on an example, a later test in the sequence is likely to be accurate as well. We empirically verify that weak dominance holds on real datasets and prove that it is a maximal condition for achieving sublinear regret. We reduce USS to a special case of multi-armed bandit problem with side information and develop polynomial time algorithms that achieve sublinear regret