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

Temporal extension of stable glow discharges in fluorine-based excimer laser gas mixtures by the addition of xenon

The effect of addition of xenon on the long term homogeneity of discharges in F2and ArF excimer laser gas mixtures was investigated in a small-volume discharge chamber. The gas mixture in the discharge chamber was preionized by X-rays. A special electrical excitation circuit containing a pulse forming line provided a long, square-shaped current pumping pulse of a predetermined duration to the discharge electrodes. The initiation and the development of the discharge was monitored via its fluorescence signal with an intensified CCD camera. We found that adding Xe up to partial pressures of 0.53 mbar extended the homogeneous phase of the discharge from 80 ns to approximately 200 ns in He/F2as well as in He/Ar/F2and Ne/Ar/F2excimer laser gas mixtures. Monitoring of the ArF and XeF spontaneous emission signals showed that the formation of ArF excimers remained unaffected by the addition of xenon (up to 1.3 mbar) to the laser gas mixture

The twin paradox in compact spaces

Twins travelling at constant relative velocity will each see the other's time dilate leading to the apparent paradox that each twin believes the other ages more slowly. In a finite space, the twins can both be on inertial, periodic orbits so that they have the opportunity to compare their ages when their paths cross. As we show, they will agree on their respective ages and avoid the paradox. The resolution relies on the selection of a preferred frame singled out by the topology of the space.Comment: to be published in PRA, 3 page

Research in primary care complementary and alternative medicine provision: an integral part of NHS clinical governance activity

The 1997 UK government white paper "The New NHS: Modern, Dependable", introduced a legal requirement for the NHS to provide accountable and quality assured services. Clinical governance was described by Scally and Donaldson (1998) as the "...system through which NHS organisations are accountable for continuously improving the quality of their services and safeguarding high standards of care by creating an environment in which excellence in clinical care will flourish." An organisational culture that "...creates a working environment which is open and participative, where ideas and good practice are shared, where education and research are valued...is likely to be one where clinical governance thrives.

Mathematical modelling of ethanol metabolism in normal subjects and chronic alcohol misusers

The time course of ethanol disappearance from the blood has been examined in normal males and females and in alcohol misusers. Blood alcohol estimations were made over a period of 3 hr, following an oral dose of ethanol (0.8 g/kg body weight) administered in the form of whisky. Attempts were made to fit the data to zero order, first order and mixed zero + first order kinetics. In the majority (75%) of normal females the blood ethanol concentration was still increasing at 30 min. This was only seen in 50% of normal males and in 50% of non-dependent alcohol misusers, but not in dependent alcohol misusers. In all of the normal females the disappearance of ethanol could be adequately described by zero order kinetics. However, in the normal male group only 20% could be described by zero order kinetics, 10% fitted first order kinetics and the remainder required a mixed model of zero + first order. The rate constant for the zero order component of the control male group was identical to zero order rate constant obtained for the female control group. In the female alcohol misuser group, 40% of the curves could not be described by zero order kinetics and fitted best to a mixed model. The zero order component of the entire group was significantly increased (by 35%) compared to that obtained for the female control group. In the male dependent and non-dependent alcohol misuser groups, all blood alcohol concentration curves fitted best to mixed zero and first order kinetics. However, no significant differences were noted in the values of the kinetic parameters when compared with the male control group. It is suggested that the zero order component of the blood alcohol concentration curves is due to the action of liver alcohol dehydrogenase and the first order component represents redistribution to the tissues. The presence or absence of a first order component is attributed to differences in absorption rates from the gut

Detecting Distracted Driving with Deep Learning

© Springer International Publishing AG 2017Driver distraction is the leading factor in most car crashes and near-crashes. This paper discusses the types, causes and impacts of distracted driving. A deep learning approach is then presented for the detection of such driving behaviors using images of the driver, where an enhancement has been made to a standard convolutional neural network (CNN). Experimental results on Kaggle challenge dataset have confirmed the capability of a convolutional neural network (CNN) in this complicated computer vision task and illustrated the contribution of the CNN enhancement to a better pattern recognition accuracy.Peer reviewe