35,713 research outputs found
Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks
Autonomous robots need to interact with unknown, unstructured and changing
environments, constantly facing novel challenges. Therefore, continuous online
adaptation for lifelong-learning and the need of sample-efficient mechanisms to
adapt to changes in the environment, the constraints, the tasks, or the robot
itself are crucial. In this work, we propose a novel framework for
probabilistic online motion planning with online adaptation based on a
bio-inspired stochastic recurrent neural network. By using learning signals
which mimic the intrinsic motivation signalcognitive dissonance in addition
with a mental replay strategy to intensify experiences, the stochastic
recurrent network can learn from few physical interactions and adapts to novel
environments in seconds. We evaluate our online planning and adaptation
framework on an anthropomorphic KUKA LWR arm. The rapid online adaptation is
shown by learning unknown workspace constraints sample-efficiently from few
physical interactions while following given way points.Comment: accepted in Neural Network
Graphene-like optical light field and its interaction with two-level atoms
The theoretical basis leading to the creation of a light field with a hexagonal honeycomb structure resembling graphene is considered along with its experimental realization and its interaction with atoms. It is argued that associated with such a light field is an optical dipole potential which leads to the diffraction of the atoms, but the details depend on whether the transverse spread of the atomic wave packet is larger than the transverse dimensions of the optical lattice (resonant Kapitza-Dirac effect) or smaller (optical Stern-Gerlach effect). Another effect in this context involves the creation of gauge fields due to the Berry phase acquired by the atom moving in the light field. The experimental realization of the light field with a honeycomb hexagonal structure is described using holographic methods and we proceed to explore the atom diffraction in the Kapitza-Dirac regime as well as the optical Stern-Gerlach regime, leading to momentum distributions with characteristic but different hexagonal structures. The artificial gauge fields too are shown to have the same hexagonal spatial structure and their magnitude can be significantly large. The effects are discussed with reference to typical parameters for the atoms and the fields
Parallel Multi-Hypothesis Algorithm for Criticality Estimation in Traffic and Collision Avoidance
Due to the current developments towards autonomous driving and vehicle active
safety, there is an increasing necessity for algorithms that are able to
perform complex criticality predictions in real-time. Being able to process
multi-object traffic scenarios aids the implementation of a variety of
automotive applications such as driver assistance systems for collision
prevention and mitigation as well as fall-back systems for autonomous vehicles.
We present a fully model-based algorithm with a parallelizable architecture.
The proposed algorithm can evaluate the criticality of complex, multi-modal
(vehicles and pedestrians) traffic scenarios by simulating millions of
trajectory combinations and detecting collisions between objects. The algorithm
is able to estimate upcoming criticality at very early stages, demonstrating
its potential for vehicle safety-systems and autonomous driving applications.
An implementation on an embedded system in a test vehicle proves in a
prototypical manner the compatibility of the algorithm with the hardware
possibilities of modern cars. For a complex traffic scenario with 11 dynamic
objects, more than 86 million pose combinations are evaluated in 21 ms on the
GPU of a Drive PX~2
Artificial potential functions for highway driving with collision avoidance
We present a set of potential function components to assist an automated or semi-automated vehicle in navigating a multi-lane, populated highway. The resulting potential field is constructed as a superposition of disparate functions for lane- keeping, road-staying, speed preference, and vehicle avoidance and passing. The construction of the vehicle avoidance potential is of primary importance, incorporating the structure and protocol of laned highway driving. Particularly, the shape and dimensions of the potential field behind each obstacle vehicle can appropriately encourage control vehicle slowing and/or passing, depending on the cars' velocities and surrounding traffic. Hard barriers on roadway edges and soft boundaries between navigable lanes keep the vehicle on the highway, with a preference to travel in a lane center
A Deterministic Model for Analyzing the Dynamics of Ant System Algorithm and Performance Amelioration through a New Pheromone Deposition Approach
Ant Colony Optimization (ACO) is a metaheuristic for solving difficult
discrete optimization problems. This paper presents a deterministic model based
on differential equation to analyze the dynamics of basic Ant System algorithm.
Traditionally, the deposition of pheromone on different parts of the tour of a
particular ant is always kept unvarying. Thus the pheromone concentration
remains uniform throughout the entire path of an ant. This article introduces
an exponentially increasing pheromone deposition approach by artificial ants to
improve the performance of basic Ant System algorithm. The idea here is to
introduce an additional attracting force to guide the ants towards destination
more easily by constructing an artificial potential field identified by
increasing pheromone concentration towards the goal. Apart from carrying out
analysis of Ant System dynamics with both traditional and the newly proposed
deposition rules, the paper presents an exhaustive set of experiments performed
to find out suitable parameter ranges for best performance of Ant System with
the proposed deposition approach. Simulations reveal that the proposed
deposition rule outperforms the traditional one by a large extent both in terms
of solution quality and algorithm convergence. Thus, the contributions of the
article can be presented as follows: i) it introduces differential equation and
explores a novel method of analyzing the dynamics of ant system algorithms, ii)
it initiates an exponentially increasing pheromone deposition approach by
artificial ants to improve the performance of algorithm in terms of solution
quality and convergence time, iii) exhaustive experimentation performed
facilitates the discovery of an algebraic relationship between the parameter
set of the algorithm and feature of the problem environment.Comment: 4th IEEE International Conference on Information and Automation for
Sustainability, 200
Exploration of Reaction Pathways and Chemical Transformation Networks
For the investigation of chemical reaction networks, the identification of
all relevant intermediates and elementary reactions is mandatory. Many
algorithmic approaches exist that perform explorations efficiently and
automatedly. These approaches differ in their application range, the level of
completeness of the exploration, as well as the amount of heuristics and human
intervention required. Here, we describe and compare the different approaches
based on these criteria. Future directions leveraging the strengths of chemical
heuristics, human interaction, and physical rigor are discussed.Comment: 48 pages, 4 figure
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