State Drought Programs and Plans: Survey of the Western United States

Drought preparedness programs are considered a primary defense against drought hazards. This article investigates state drought programs in the western United States, including a review of drought plans and interviews with state drought officials. While nearly all states have developed drought plans and larger drought programs, the scope and depth of these programs vary widely. State programs and plans typically address monitoring, declaration and response, and communication and coordination. Yet few states conduct postdrought assessments or impact and risk assessments. Resources tend to be allocated more for drought response than mitigation. Officials emphasized not only the importance of available monitoring data, but also the need for improved information for monitoring and predicting drought. State drought officials recommended the following: (1) clear and relevant drought indicators and triggers; (2) frequent communication and coordination among state agencies, local governments, and stakeholders; (3) regularly updated drought plans; and (4) strong leadership that includes a full-time state drought coordinator

Arbitrarily Scalable Environment Generators via Neural Cellular Automata

We study the problem of generating arbitrarily large environments to improve the throughput of multi-robot systems. Prior work proposes Quality Diversity (QD) algorithms as an effective method for optimizing the environments of automated warehouses. However, these approaches optimize only relatively small environments, falling short when it comes to replicating real-world warehouse sizes. The challenge arises from the exponential increase in the search space as the environment size increases. Additionally, the previous methods have only been tested with up to 350 robots in simulations, while practical warehouses could host thousands of robots. In this paper, instead of optimizing environments, we propose to optimize Neural Cellular Automata (NCA) environment generators via QD algorithms. We train a collection of NCA generators with QD algorithms in small environments and then generate arbitrarily large environments from the generators at test time. We show that NCA environment generators maintain consistent, regularized patterns regardless of environment size, significantly enhancing the scalability of multi-robot systems in two different domains with up to 2,350 robots. Additionally, we demonstrate that our method scales a single-agent reinforcement learning policy to arbitrarily large environments with similar patterns. We include the source code at \url{https://github.com/lunjohnzhang/warehouse_env_gen_nca_public}.Comment: Accepted to Advances in Neural Information Processing Systems (NeurIPS), 202

Multi-Robot Coordination and Layout Design for Automated Warehousing

With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such warehouses by developing better MAPF algorithms, we focus on improving the throughput by optimizing the warehouse layout. We show that, even with state-of-the-art MAPF algorithms, commonly used human-designed layouts can lead to congestion for warehouses with large numbers of robots and thus have limited scalability. We extend existing automatic scenario generation methods to optimize warehouse layouts. Results show that our optimized warehouse layouts (1) reduce traffic congestion and thus improve throughput, (2) improve the scalability of the automated warehouses by doubling the number of robots in some cases, and (3) are capable of generating layouts with user-specified diversity measures. We include the source code at: https://github.com/lunjohnzhang/warehouse_env_gen_publicComment: Accepted to International Joint Conference on Artificial Intelligence (IJCAI), 2023. The paper can be found at IJCAI 2023 proceeding at https://www.ijcai.org/proceedings/2023/061

Proximal Policy Gradient Arborescence for Quality Diversity Reinforcement Learning

Training generally capable agents that perform well in unseen dynamic environments is a long-term goal of robot learning. Quality Diversity Reinforcement Learning (QD-RL) is an emerging class of reinforcement learning (RL) algorithms that blend insights from Quality Diversity (QD) and RL to produce a collection of high performing and behaviorally diverse policies with respect to a behavioral embedding. Existing QD-RL approaches have thus far taken advantage of sample-efficient off-policy RL algorithms. However, recent advances in high-throughput, massively parallelized robotic simulators have opened the door for algorithms that can take advantage of such parallelism, and it is unclear how to scale existing off-policy QD-RL methods to these new data-rich regimes. In this work, we take the first steps to combine on-policy RL methods, specifically Proximal Policy Optimization (PPO), that can leverage massive parallelism, with QD, and propose a new QD-RL method with these high-throughput simulators and on-policy training in mind. Our proposed Proximal Policy Gradient Arborescence (PPGA) algorithm yields a 4x improvement over baselines on the challenging humanoid domain.Comment: Submitted to Neurips 202

Illuminating Mario Scenes in the Latent Space of a Generative Adversarial Network

Generative adversarial networks (GANs) are quickly becoming a ubiquitous approach to procedurally generating video game levels. While GAN generated levels are stylistically similar to human-authored examples, human designers often want to explore the generative design space of GANs to extract interesting levels. However, human designers find latent vectors opaque and would rather explore along dimensions the designer specifies, such as number of enemies or obstacles. We propose using state-of-the-art quality diversity algorithms designed to optimize continuous spaces, i.e. MAP-Elites with a directional variation operator and Covariance Matrix Adaptation MAP-Elites, to efficiently explore the latent space of a GAN to extract levels that vary across a set of specified gameplay measures. In the benchmark domain of Super Mario Bros, we demonstrate how designers may specify gameplay measures to our system and extract high-quality (playable) levels with a diverse range of level mechanics, while still maintaining stylistic similarity to human authored examples. An online user study shows how the different mechanics of the automatically generated levels affect subjective ratings of their perceived difficulty and appearance.Comment: Accepted to AAAI 202

The Evolution of the Anopheles 16 Genomes Project

We report the imminent completion of a set of reference genome assemblies for 16 species of Anopheles mosquitoes. In addition to providing a generally useful resource for comparative genomic analyses, these genome sequences will greatly facilitate exploration of the capacity exhibited by some Anopheline mosquito species to serve as vectors for malaria parasites. A community analysis project will commence soon to perform a thorough comparative genomic investigation of these newly sequenced genomes. Completion of this project via the use of short next-generation sequence reads required innovation in both the bioinformatic and laboratory realms, and the resulting knowledge gained could prove useful for genome sequencing projects targeting other unconventional genomes

Transiting Disintegrating Planetary Debris around WD 1145+017

More than a decade after astronomers realized that disrupted planetary material likely pollutes the surfaces of many white dwarf stars, the discovery of transiting debris orbiting the white dwarf WD 1145+017 has opened the door to new explorations of this process. We describe the observational evidence for transiting planetary material and the current theoretical understanding (and in some cases lack thereof) of the phenomenon.Comment: Invited review chapter. Accepted March 23, 2017 and published October 7, 2017 in the Handbook of Exoplanets. 15 pages, 10 figure