Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies

RoboCup soccer competitions are considered among the most challenging multi-robot adversarial environments, due to their high dynamism and the partial observability of the environment. In this paper we introduce a method based on a combination of Monte Carlo search and data aggregation (MCSDA) to adapt discrete-action soccer policies for a defender robot to the strategy of the opponent team. By exploiting a simple representation of the domain, a supervised learning algorithm is trained over an initial collection of data consisting of several simulations of human expert policies. Monte Carlo policy rollouts are then generated and aggregated to previous data to improve the learned policy over multiple epochs and games. The proposed approach has been extensively tested both on a soccer-dedicated simulator and on real robots. Using this method, our learning robot soccer team achieves an improvement in ball interceptions, as well as a reduction in the number of opponents' goals. Together with a better performance, an overall more efficient positioning of the whole team within the field is achieved

Few-Shot Bayesian Imitation Learning with Logical Program Policies

Humans can learn many novel tasks from a very small number (1--5) of demonstrations, in stark contrast to the data requirements of nearly tabula rasa deep learning methods. We propose an expressive class of policies, a strong but general prior, and a learning algorithm that, together, can learn interesting policies from very few examples. We represent policies as logical combinations of programs drawn from a domain-specific language (DSL), define a prior over policies with a probabilistic grammar, and derive an approximate Bayesian inference algorithm to learn policies from demonstrations. In experiments, we study five strategy games played on a 2D grid with one shared DSL. After a few demonstrations of each game, the inferred policies generalize to new game instances that differ substantially from the demonstrations. Our policy learning is 20--1,000x more data efficient than convolutional and fully convolutional policy learning and many orders of magnitude more computationally efficient than vanilla program induction. We argue that the proposed method is an apt choice for tasks that have scarce training data and feature significant, structured variation between task instances.Comment: AAAI 202

Improved Policy Networks for Computer Go

LNCS n°10664Golois uses residual policy networks to play Go. Two improvements to these residual policy networks are proposed and tested. The first one is to use three output planes. The second one is to add Spatial Batch Normalization

\u3cem\u3eRhizobium japonicum\u3c/em\u3e Mutants Defective in Symbiotic Nitrogen Fixation

Rhizobium japonicum strains 3I1b110 and 61A76 were mutagenized to obtain 25 independently derived mutants that produced soybean nodules defective in nitrogen fixation, as assayed by acetylene reduction. The proteins of both the bacterial and the plant portions of the nodules were analyzed by two-dimensional polyacrylamide gel electrophoresis. All of the mutants had lower-than-normal levels of the nitrogenase components, and all but four contained a prominent bacteroid protein not observed in wild-type bacteroids. Experiments with bacteria grown ex planta suggested that this protein was derepressed by the absence of ammonia. Nitrogenase component II of one mutant was altered in isoelectric point. The soluble plant fraction of the nodules of seven mutants had very low levels of heme, yet the nodules of five of these seven mutants contained the polypeptide of leghemoglobin. Thus, the synthesis of the globin may not be coupled to the content of available heme in soybean nodules. The nodules of the other two of these seven mutants lacked not only leghemoglobin but most of the other normal plant and bacteroid proteins. Ultrastructural examination of nodules formed by these two mutants indicated normal ramification of infection threads but suggested a problem in subsequent survival of the bacteria and their release from the infection threads

Induced sensitivity of Bacillus subtilis colony morphology to mechanical media compression

Bacteria from several taxa, including Kurthia zopfii, Myxococcus xanthus, and Bacillus mycoides, have been reported to align growth of their colonies to small features on the surface of solid media, including anisotropies created by compression. While the function of this phenomenon is unclear, it may help organisms navigate on solid phases, such as soil. The origin of this behavior is also unknown: it may be biological (that is, dependent on components that sense the environment and regulate growth accordingly) or merely physical. Here we show that B. subtilis, an organism that typically does not respond to media compression, can be induced to do so with two simple and synergistic perturbations: a mutation that maintains cells in the swarming (chained) state, and the addition of EDTA to the growth media, which further increases chain length. EDTA apparently increases chain length by inducing defects in cell separation, as the treatment has only marginal effects on the length of individual cells. These results lead us to three conclusions. First, the wealth of genetic tools available to B. subtilis will provide a new, tractable chassis for engineering compression sensitive organisms. Second, the sensitivity of colony morphology to media compression in Bacillus can be modulated by altering a simple physical property of rod-shaped cells. And third, colony morphology under compression holds promise as a rapid, simple, and low-cost way to screen for changes in the length of rod-shaped cells or chains thereof

Considerations on the quantum double-exchange Hamiltonian

Schwinger bosons allow for an advantageous representation of quantum double-exchange. We review this subject, comment on previous results, and address the transition to the semiclassical limit. We derive an effective fermionic Hamiltonian for the spin-dependent hopping of holes interacting with a background of local spins, which is used in a related publication within a two-phase description of colossal magnetoresistant manganites.Comment: 7 pages, 3 figure

TB205: Cost of Supplemental Irrigation for Potato Production in Maine

This report presents estimated irrigation costs for potato production in Maine. The variability of the weather in Maine (particularly precipitation) has a large influence on crop yields and overall farm profitability. The use of supplemental irrigation on high-value agricultural crops can improve the economic situation of farmers who use this equipment efficiently. Costs considered in this report include capital costs (equipment, interest, water development (pond construction, permitting, engineering), and operating and maintenance costs (labor, power, repair).https://digitalcommons.library.umaine.edu/aes_techbulletin/1010/thumbnail.jp

Microeconomics of the ideal gas like market models

We develop a framework based on microeconomic theory from which the ideal gas like market models can be addressed. A kinetic exchange model based on that framework is proposed and its distributional features have been studied by considering its moments. Next, we derive the moments of the CC model (Eur. Phys. J. B 17 (2000) 167) as well. Some precise solutions are obtained which conform with the solutions obtained earlier. Finally, an output market is introduced with global price determination in the model with some necessary modifications.Comment: 15pp. Revised & a reference added. An appeal in Appendix-annex (section 8; not for publication) also added. Physica A (accepted for publication

Blood cadmium is elevated in iron deficient U.S. children: a cross-sectional study

Abstract Background Cadmium (Cd), a widespread environmental contaminant, and iron deficiency (ID), the most common nutrient deficiency in the world, are known risk factors for neurodevelopmental delays, as well as other disorders, in infants and children. Studies assessing the cumulative effects of these factors are lacking in children, despite concerns of increased uptake of metals in the presence of ID. Here we sought to determine if blood and urine Cd levels were elevated in ID children compared to non-ID children. Methods Data for 5224 children, aged 3–19 years, were obtained from the 1999–2002 NHANES. ID was defined as ≥2 of 3 abnormal iron indicators (low serum ferritin [SF], high free erythrocyte protoporphyrin [FEP], low % transferrin saturation [TSAT]); ID anemia (IDA) was defined as ID plus low hemoglobin (Hgb). Logistic regression was used to evaluate associations between ID, IDA, and abnormal iron indicators and categories of blood and urine Cd. Results Adjusted odds of ID, IDA, low SF, and low TSAT were associated with increasing category of blood Cd but not urine Cd. Adjusted ORs (95% CI) for blood Cd ≥0.5 μg/L versus < LOD were = 1.74 (1.30-2.34), 4.02 (1.92-8.41), 4.08 (2.36-5.89) and 1.78 (1.32-2.39), for ID, IDA, low SF, and low TSAT, respectively. Age and sex specific analyses of blood Cd and ID/abnormal iron indicators revealed that the observed associations were strongest in females aged 16–19 years. Conclusions Given their shared neurotoxic effects in children, and that many people live in areas with high burdens of both ID and Cd, more research into the complex relationships between nutrient deficiencies and environmental toxicants is vital.http://deepblue.lib.umich.edu/bitstream/2027.42/109497/1/12940_2013_Article_710.pd