Learning to Race through Coordinate Descent Bayesian Optimisation

In the automation of many kinds of processes, the observable outcome can often be described as the combined effect of an entire sequence of actions, or controls, applied throughout its execution. In these cases, strategies to optimise control policies for individual stages of the process might not be applicable, and instead the whole policy might have to be optimised at once. On the other hand, the cost to evaluate the policy's performance might also be high, being desirable that a solution can be found with as few interactions as possible with the real system. We consider the problem of optimising control policies to allow a robot to complete a given race track within a minimum amount of time. We assume that the robot has no prior information about the track or its own dynamical model, just an initial valid driving example. Localisation is only applied to monitor the robot and to provide an indication of its position along the track's centre axis. We propose a method for finding a policy that minimises the time per lap while keeping the vehicle on the track using a Bayesian optimisation (BO) approach over a reproducing kernel Hilbert space. We apply an algorithm to search more efficiently over high-dimensional policy-parameter spaces with BO, by iterating over each dimension individually, in a sequential coordinate descent-like scheme. Experiments demonstrate the performance of the algorithm against other methods in a simulated car racing environment.Comment: Accepted as conference paper for the 2018 IEEE International Conference on Robotics and Automation (ICRA

Laid To Rust: Proposing Strict Liability in Tort for Prop Firearm Injuries Following the Alec Baldwin Shooting

Prop gun safety standards are often a mixed bag. “Despite some industry reforms following previous tragedies, the federal workplace safety agency in the U.S. is silent on the issue of on-set gun safety.” Some states follow film labor union and movie studio guidelines. Other states have regulations on pyrotechnic devices, but not on prop guns. Thus, states should consider what successful legal course of action a wrongfully deceased heir can bring in the event that no criminal charges can be filed. This article proposes that the best regulatory approach and tort liability course of action is through (1) treating prop guns the same as a pyrotechnic device, and (2) characterizing the use of prop guns on-set as an abnormally or inherently dangerous activity for purposes of strict liability, should no criminal charges be granted. Part I provides both a mechanical and historical overview of the use of prop weapons in film and television. Part II further explains how props are regulated. Parts III and IV analyze the tort legal framework and explain why strict liability analysis is best suited for injuries caused by such prop gun devices