Optimal control methods for simulating the perception of causality in young infants

There is a growing debate among developmental theorists concerning the perception of causality in young infants. Some theorists advocate a top-down view, e.g., that infants reason about causal events on the basis of intuitive physical principles. Others argue instead for a bottom-up view of infant causal knowledge, in which causal perception emerges from a simple set of associative learning rules. In order to test the limits of the bottom-up view, we propose an optimal control model (OCM) of infant causal perception. OCM is trained to find an optimal pattern of eye movements for maintaining sight of a target object. We first present a series of simulations which illustrate OCM's ability to anticipate the outcome of novel, occluded causal events, and then compare OCM's performance with that of 9-month-old infants. The impications for developmental theory and research are discusse

Robustly Solvable Constraint Satisfaction Problems

An algorithm for a constraint satisfaction problem is called robust if it outputs an assignment satisfying at least $(1-g(\varepsilon))$-fraction of the constraints given a $(1-\varepsilon)$-satisfiable instance, where $g(\varepsilon) \rightarrow 0$ as $\varepsilon \rightarrow 0$. Guruswami and Zhou conjectured a characterization of constraint languages for which the corresponding constraint satisfaction problem admits an efficient robust algorithm. This paper confirms their conjecture

Deciding absorption

We characterize absorption in finite idempotent algebras by means of J\'onsson absorption and cube term blockers. As an application we show that it is decidable whether a given subset is an absorbing subuniverse of an algebra given by the tables of its basic operations

The algebraic dichotomy conjecture for infinite domain Constraint Satisfaction Problems

We prove that an $\omega$-categorical core structure primitively positively interprets all finite structures with parameters if and only if some stabilizer of its polymorphism clone has a homomorphism to the clone of projections, and that this happens if and only if its polymorphism clone does not contain operations $\alpha$, $\beta$, $s$ satisfying the identity $\alpha s(x,y,x,z,y,z) \approx \beta s(y,x,z,x,z,y)$. This establishes an algebraic criterion equivalent to the conjectured borderline between P and NP-complete CSPs over reducts of finitely bounded homogenous structures, and accomplishes one of the steps of a proposed strategy for reducing the infinite domain CSP dichotomy conjecture to the finite case. Our theorem is also of independent mathematical interest, characterizing a topological property of any $\omega$-categorical core structure (the existence of a continuous homomorphism of a stabilizer of its polymorphism clone to the projections) in purely algebraic terms (the failure of an identity as above).Comment: 15 page

The wonderland of reflections

A fundamental fact for the algebraic theory of constraint satisfaction problems (CSPs) over a fixed template is that pp-interpretations between at most countable \omega-categorical relational structures have two algebraic counterparts for their polymorphism clones: a semantic one via the standard algebraic operators H, S, P, and a syntactic one via clone homomorphisms (capturing identities). We provide a similar characterization which incorporates all relational constructions relevant for CSPs, that is, homomorphic equivalence and adding singletons to cores in addition to pp-interpretations. For the semantic part we introduce a new construction, called reflection, and for the syntactic part we find an appropriate weakening of clone homomorphisms, called h1 clone homomorphisms (capturing identities of height 1). As a consequence, the complexity of the CSP of an at most countable $\omega$-categorical structure depends only on the identities of height 1 satisfied in its polymorphism clone as well as the the natural uniformity thereon. This allows us in turn to formulate a new elegant dichotomy conjecture for the CSPs of reducts of finitely bounded homogeneous structures. Finally, we reveal a close connection between h1 clone homomorphisms and the notion of compatibility with projections used in the study of the lattice of interpretability types of varieties.Comment: 24 page

Absorbing Subalgebras, Cyclic Terms, and the Constraint Satisfaction Problem

The Algebraic Dichotomy Conjecture states that the Constraint Satisfaction Problem over a fixed template is solvable in polynomial time if the algebra of polymorphisms associated to the template lies in a Taylor variety, and is NP-complete otherwise. This paper provides two new characterizations of finitely generated Taylor varieties. The first characterization is using absorbing subalgebras and the second one cyclic terms. These new conditions allow us to reprove the conjecture of Bang-Jensen and Hell (proved by the authors) and the characterization of locally finite Taylor varieties using weak near-unanimity terms (proved by McKenzie and Mar\'oti) in an elementary and self-contained way

Learning Parameterized Skills

We introduce a method for constructing skills capable of solving tasks drawn from a distribution of parameterized reinforcement learning problems. The method draws example tasks from a distribution of interest and uses the corresponding learned policies to estimate the topology of the lower-dimensional piecewise-smooth manifold on which the skill policies lie. This manifold models how policy parameters change as task parameters vary. The method identifies the number of charts that compose the manifold and then applies non-linear regression in each chart to construct a parameterized skill by predicting policy parameters from task parameters. We evaluate our method on an underactuated simulated robotic arm tasked with learning to accurately throw darts at a parameterized target location.Comment: Appears in Proceedings of the 29th International Conference on Machine Learning (ICML 2012