81 research outputs found
Inductive learning spatial attention
This paper investigates the automatic induction of spatial attention
from the visual observation of objects manipulated
on a table top. In this work, space is represented in terms of
a novel observer-object relative reference system, named Local
Cardinal System, defined upon the local neighbourhood
of objects on the table. We present results of applying the
proposed methodology on five distinct scenarios involving
the construction of spatial patterns of coloured blocks
Probabilistic lane estimation for autonomous driving using basis curves
Lane estimation for autonomous driving can be formulated as a curve estimation problem, where local sensor data provides partial and noisy observations of spatial curves forming lane boundaries. The number of lanes to estimate are initially unknown and many observations may be outliers or false detections (due e.g. to shadows or non-boundary road paint). The challenges lie in detecting lanes when and where they exist, and updating lane estimates as new observations are made.
This paper describes an efficient probabilistic lane estimation algorithm based on a novel curve representation. The key advance is a principled mechanism to describe many similar curves as variations of a single basis curve. Locally observed road paint and curb features are then fused to detect and estimate all nearby travel lanes. The system handles roads with complex multi-lane geometries and makes no assumptions about the position and orientation of the vehicle with respect to the roadway.
We evaluate our algorithm using a ground truth dataset containing manually-labeled, fine-grained lane geometries for vehicle travel in two large and diverse datasets that include more than 300,000 images and 44 km of roadway. The results illustrate the capabilities of our algorithm for robust lane estimation in the face of challenging conditions and unknown roadways.United States. Defense Advanced Research Projects Agency (Urban Challenge, ARPA Order No. W369/00, Program Code DIRO, issued by DARPA/CMO under Contract No. HR0011-06-C-0149
Approachability in Stackelberg Stochastic Games with Vector Costs
The notion of approachability was introduced by Blackwell [1] in the context
of vector-valued repeated games. The famous Blackwell's approachability theorem
prescribes a strategy for approachability, i.e., for `steering' the average
cost of a given agent towards a given target set, irrespective of the
strategies of the other agents. In this paper, motivated by the multi-objective
optimization/decision making problems in dynamically changing environments, we
address the approachability problem in Stackelberg stochastic games with vector
valued cost functions. We make two main contributions. Firstly, we give a
simple and computationally tractable strategy for approachability for
Stackelberg stochastic games along the lines of Blackwell's. Secondly, we give
a reinforcement learning algorithm for learning the approachable strategy when
the transition kernel is unknown. We also recover as a by-product Blackwell's
necessary and sufficient condition for approachability for convex sets in this
set up and thus a complete characterization. We also give sufficient conditions
for non-convex sets.Comment: 18 Pages, Submitted to Dynamic Games and Application
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