Using the XCS classifier system for multi-objective reinforcement learning problems

We investigate the performance of a learning classifier system in some simple multi-objective, multi-step maze problems, using both random and biased action-selection policies for exploration. Results show that the choice of action-selection policy can significantly affect the performance of the system in such environments. Further, this effect is directly related to population size, and we relate this finding to recent theoretical studies of learning classifier systems in single-step problems. © 2006 Massachusetts Institute of Technology

Onshoring through automation; Perpetuating inequality?

Many analyses of the ethical, legal and societal impacts of robotics are focussed on Europe and the United States. In this article I discuss the impacts of robotics on developing nations in a connected world, and make the case that international equity demands that we extend the scope of our discussions around these impacts. Offshoring has been instrumental in the economic development of a series of nations. As technology advances and wage share increases, less labour is required to achieve the same task, and more job functions move to new areas with lower labour costs. This cascade results in a ladder of economic betterment that is footed in a succession of countries, and has improved standards of living and human flourishing. The recent international crisis precipitated by COVID-19 has underlined the vulnerability of many industries to disruptions in global supply chains. As a response to this, “onshoring” of functions which had been moved to other nations decreases risk, but would increase labour costs if it were not for automation. Robotics, by facilitating onshoring, risks pulling up the ladder, and suppressing the drivers for economic development. The roots of the economic disparities that motivate these international shifts lie in many cases in colonialism and its effects on colonised societies. As we discuss the colonial legacy, and being mindful of the justifications and rationale for distributive justice, we should consider how robotics impacts international development

Engaging the public with a hybrid puppet

A puppet with robotic features and emotional expressions can make general audiences think about the role of machines in everyday life

The distributed co-evolution of an on-board simulator and controller for swarm robot behaviours

We investigate the reality gap, specifically the environmental correspondence of an on-board simulator. We describe a novel distributed co-evolutionary approach to improve the transference of controllers that co-evolve with an on-board simulator. A novelty of our approach is the the potential to improve transference between simulation and reality without an explicit measurement between the two domains. We hypothesise that a variation of on-board simulator environment models across many robots can be competitively exploited by comparison of the real controller fitness of many robots. We hypothesise that the real controller fitness values across many robots can be taken as indicative of the varied fitness in environmental correspondence of on-board simulators, and used to inform the distributed evolution an on-board simulator environment model without explicit measurement of the real environment. Our results demonstrate that our approach creates an adaptive relationship between the on-board simulator environment model, the real world behaviour of the robots, and the state of the real environment. The results indicate that our approach is sensitive to whether the real behavioural performance of the robot is informative on the state real environment. © 2014 Springer-Verlag Berlin Heidelberg

Heart robot: a public engagement project

Heart Robot was a public engagement project funded by the Engineering and Physical Sciences Research Council (EPSRC). The aim of the project was to challenge cultural perceptions of robots, and to stimulate thought and debatein members of the general public around research in the field of social and emotional robotics. Fusing the traditions of Bunraku puppetry, the technologyof animatronics and the field of artificial emotion and social intelligence, Heart Robot presented a series of entertaining, thought-provoking, and moving performances at fourteen events in the south-west region of the UK betweenMay and December 2008.This paper presents a summary of the independent evaluation of the project

Arts and humanities shaping the AI future

The organisation of this event was motivated by the view there should be more Arts and Humanities (A&H) perspectives, methods and approaches involved in shaping our future relationship with AI technology. Our invitation was sent to the most diverse group we could imagine being interested in this view. Positive responses to the invitation, rich discussions during and critical reflections after the meeting in general confirms this view. Besides facilitating a discussion amongst this group of participants from different disciplines, the event was not outcome-driven. Some information as well as questions were gathered before the meeting. At the meeting, example projects using A&H methods to shape relationships with AI technology were presented as triggers for small group discussions to follow. Note takers collected and summarised discussion highlights at the end of the day, and invitations for post-meeting follow up reflections were sent. This report provides a relatively detailed account of these activities, the conditions and what was shared. Writing this has been useful for considering what might come next, which we are currently reflecting on. Please feel free to contact us with any thoughts or questions

Achieving Goals using Reward Shaping and Curriculum Learning

Real-time control for robotics is a popular research area in the reinforcement learning community. Through the use of techniques such as reward shaping, researchers have managed to train online agents across a multitude of domains. Despite these advances, solving goal-oriented tasks still requires complex architectural changes or hard constraints to be placed on the problem. In this article, we solve the problem of stacking multiple cubes by combining curriculum learning, reward shaping, and a high number of efficiently parallelized environments. We introduce two curriculum learning settings that allow us to separate the complex task into sequential sub-goals, hence enabling the learning of a problem that may otherwise be too difficult. We focus on discussing the challenges encountered while implementing them in a goal-conditioned environment. Finally, we extend the best configuration identified on a higher complexity environment with differently shaped objects.Comment: To be published at Future Technologies Conference (FTC) 202

Benchmarking robots in smart cities

In order for robots to become integrated into society, we need to be able to prove that robots do their jobs reliably. Robot benchmarking competitions in smart cities offer a glimpse into our future

Designing ethical social robots - A longitudinal field study with older adults

Emotional deception and emotional attachment are regarded as ethical concerns in human robot interaction. Considering these concerns is essential, particularly as little is known about longitudinal effects of interactions with social robots. We ran a longitudinal user study with older adults in two retirement villages, where people interacted with a robot in a didactic setting for eight sessions over a period of four weeks. The robot would show either non-emotive or emotive behavior during these interactions in order to investigate emotional deception. Questionnaires were given to investigate participants’ acceptance of the robot, perception of the social interactions with the robot and attachment to the robot. Results show that the robot’s behavior did not seem to influence participants’ acceptance of the robot, perception of the interaction or attachment to the robot. Time did not appear to influence participants’ level of attachment to the robot, which ranged from low to medium. The perceived ease of using the robot significantly increased over time. These findings indicate that a robot showing emotions (and perhaps resulting in users being deceived) in a didactic setting may not by default negatively influence participants’ acceptance and perception of the robot, and that older adults may not become distressed if the robot would break or be taken away from them, as attachment to the robot in this didactic setting was not high. However, more research is required as there may be other factors influencing these ethical concerns, and support through other measurements than questionnaires are required to be able to draw conclusions regarding these concerns

Saltwater-responsive bubble artificial muscles using superabsorbent polymers

Robots operating in changing underwater environments may be required to adapt to these varying conditions. In tidal estuaries, for example, where the degree of salinity cycles in step with the level of the water, a robot may need to adapt its behaviour depending on the position of the tide. In freshwater bodies, the unexpected presence of a pollutant may also require the robot to respond by altering its behaviour. Embodying this sensing and response in the body of the robot means that adaptivity to the environment can be achieved without resorting to centralised control. This can also allow direct responsivity using ‘free’ environmental energy, actuating without requiring stored onboard energy. In this work we present a soft artificial muscle, the contraction of which varies in response to the salinity the water surrounding it. The novel actuator uses a super-absorbent polymer gel encapsulated within a series of discrete cells. This gel readily absorbs water through the membrane wall of the actuator, and can swell to over 300 times its initial volume. This swelling generates significant pressure, changing the shape of the cells and driving the contraction of the muscle. The degree of swelling is significantly reduced by the presence of salts and pollutants in the surrounding water, so transitioning from a freshwater to a saltwater environment causes the muscle to relax. In this paper, we discuss the design and fabrication of these superabsorbent polymer-based Bubble Artificial Muscle (SAP-BAM) actuators. The tensile properties of the muscle under actuated (fresh water) and relaxed (salt water) conditions are characterised, showing a maximum generated force of 10.96N. The length response under constant load for a full actuation cycle is given, showing a maximum contraction of 27.5% of the initial length at 1N load, and the performance over repeated actuation and relaxation cycles is shown. The SAP-BAM muscles are straightforward to fabricate and are composed of low-cost, freely-available materials. Many existing pneumatically-actuated muscles can be modified to use the approach taken for this muscle. The muscle presented in this work represents the first example of a new class of super-absorbent polymer-driven environmental soft artificial muscles