Multi-Task Policy Search for Robotics

© 2014 IEEE.Learning policies that generalize across multiple tasks is an important and challenging research topic in reinforcement learning and robotics. Training individual policies for every single potential task is often impractical, especially for continuous task variations, requiring more principled approaches to share and transfer knowledge among similar tasks. We present a novel approach for learning a nonlinear feedback policy that generalizes across multiple tasks. The key idea is to define a parametrized policy as a function of both the state and the task, which allows learning a single policy that generalizes across multiple known and unknown tasks. Applications of our novel approach to reinforcement and imitation learning in realrobot experiments are shown

Set up for failure? the impact of assignment complexity on plagiarism by South African postgraduate students

Abstract: Students are more likely to resort to plagiarism in assignments that are complex, especially when certain factors out of their control are present. This article reports on a study that investigated how postgraduate students’ reliance on different types of plagiarism is different between a less complex essay (Bloom’s Level 4) and a more complex essay (Bloom’s Level 6). The essays of 128 students at a comprehensive university in South Africa were coded for six types plagiarism, which were identified in literature. The first pertinent finding was that students furnished fewer citations in a more complex essay. Secondly, copying substantial SAIMS 2017: Competitive stream Page 2 portions of text with limited alteration (a type of plagiarism) remained prevalent between the two essays. Faculty need to ensure that students are adequately prepared in terms of paraphrasing and academic writing to be able to complete more complex essays

Polynomial Cointegration among Stationary Processes with Long Memory

n this paper we consider polynomial cointegrating relationships among stationary processes with long range dependence. We express the regression functions in terms of Hermite polynomials and we consider a form of spectral regression around frequency zero. For these estimates, we establish consistency by means of a more general result on continuously averaged estimates of the spectral density matrix at frequency zeroComment: 25 pages, 7 figures. Submitted in August 200

Interpreting Dark Matter Direct Detection Independently of the Local Velocity and Density Distribution

We demonstrate precisely what particle physics information can be extracted from a single direct detection observation of dark matter while making absolutely no assumptions about the local velocity distribution and local density of dark matter. Our central conclusions follow from a very simple observation: the velocity distribution of dark matter is positive definite, f(v) >= 0. We demonstrate the utility of this result in several ways. First, we show a falling deconvoluted recoil spectrum (deconvoluted of the nuclear form factor), such as from ordinary elastic scattering, can be "mocked up" by any mass of dark matter above a kinematic minimum. As an example, we show that dark matter much heavier than previously considered can explain the CoGeNT excess. Specifically, m_chi < m_Ge} can be in just as good agreement as light dark matter, while m_\chi > m_Ge depends on understanding the sensitivity of Xenon to dark matter at very low recoil energies, E_R ~ 6 keVnr. Second, we show that any rise in the deconvoluted recoil spectrum represents distinct particle physics information that cannot be faked by an arbitrary f(v). As examples of resulting non-trivial particle physics, we show that inelastic dark matter and dark matter with a form factor can both yield such a rise

High-resolution absorption spectroscopy of the circumgalactic medium of the Milky Way

In this article we discuss the importance of high-resolution absorption spectroscopy for our understanding of the distribution and physical nature of the gaseous circumgalactic medium (CGM) that surrounds the Milky Way. Observational and theoretical studies indicate a high complexity of the gas kinematics and an extreme multi-phase nature of the CGM in low-redshift galaxies. High-precision absorption-line measurements of the Milky Way's gas environment thus are essential to explore fundamental parameters of circumgalactic gas in the local Universe, such as mass, chemical composition, and spatial distribution. We shortly review important characteristics of the Milky Way's CGM and discuss recent results from our multi-wavelength observations of the Magellanic Stream. Finally, we discuss the potential of studying the warm-hot phase of the Milky Way's CGM by searching for extremely weak [FeX] l6374.5 and [FeIVX] l5302.9 absorption in optical QSO spectra.Comment: 7 pages, 4 figures; accepted for publication in Astronomical Notes (paper version of a talk presented at the 10th Thinkshop, Potsdam, 2013

On two problems in graph Ramsey theory

We study two classical problems in graph Ramsey theory, that of determining the Ramsey number of bounded-degree graphs and that of estimating the induced Ramsey number for a graph with a given number of vertices. The Ramsey number r(H) of a graph H is the least positive integer N such that every two-coloring of the edges of the complete graph $K_N$ contains a monochromatic copy of H. A famous result of Chv\'atal, R\"{o}dl, Szemer\'edi and Trotter states that there exists a constant c(\Delta) such that r(H) \leq c(\Delta) n for every graph H with n vertices and maximum degree \Delta. The important open question is to determine the constant c(\Delta). The best results, both due to Graham, R\"{o}dl and Ruci\'nski, state that there are constants c and c' such that 2^{c' \Delta} \leq c(\Delta) \leq 2^{c \Delta \log^2 \Delta}. We improve this upper bound, showing that there is a constant c for which c(\Delta) \leq 2^{c \Delta \log \Delta}. The induced Ramsey number r_{ind}(H) of a graph H is the least positive integer N for which there exists a graph G on N vertices such that every two-coloring of the edges of G contains an induced monochromatic copy of H. Erd\H{o}s conjectured the existence of a constant c such that, for any graph H on n vertices, r_{ind}(H) \leq 2^{c n}. We move a step closer to proving this conjecture, showing that r_{ind} (H) \leq 2^{c n \log n}. This improves upon an earlier result of Kohayakawa, Pr\"{o}mel and R\"{o}dl by a factor of \log n in the exponent.Comment: 18 page

A Survey of O VI, C III, and H I in Highly Ionized High-Velocity Clouds

(ABRIDGED) We present a Far-Ultraviolet Spectroscopic Explorer survey of highly ionized high-velocity clouds (HVCs) in 66 extragalactic sight lines. We find a total of 63 high-velocity O VI absorbers, 16 with 21 cm-emitting H I counterparts and 47 ``highly ionized'' absorbers without 21 cm emission. 11 of these high-velocity O VI absorbers are positive-velocity wings (broad O VI features extending asymmetrically to velocities of up to 300 km/s). The highly ionized HVC population is characterized by =38+/-10 km/s and <log N_a(O VI)>=13.83+/-0.36. We find that 81% (30/37) of high-velocity O VI absorbers have clear accompanying C III absorption, and 76% (29/38) have accompanying H I absorption in the Lyman series. The lower average width of the high-velocity H I absorbers implies the H I lines arise in a separate, lower temperature phase than the O VI. We find that the shape of the wing profiles is well reproduced by a radiatively cooling, vertical outflow. However, the outflow has to be patchy and out of ionization equilibrium. An alternative model, consistent with the observations, is one where the highly ionized HVCs represent the low N(H I) tail of the HVC population, with the O VI formed at the interfaces around the embedded H I cores. Though we cannot rule out a Local Group explanation, we favor a Galactic origin. This is based on the recent evidence that both H I HVCs and the million-degree gas detected in X-ray absorption are Galactic phenomena. Since the highly ionized HVCs appear to trace the interface between these two Galactic phases, it follows that highly ionized HVCs are Galactic themselves. However, the non-detection of high-velocity O VI in halo star spectra implies that any Galactic high-velocity O VI exists at z-distances beyond a few kpc.Comment: 36 pages, 14 figures (3 in color), accepted to ApJS. Some figures downgraded to limit file siz