Joint strategy fictitious play with inertia for potential games

We consider multi-player repeated games involving a large number of players with large strategy spaces and enmeshed utility structures. In these ldquolarge-scalerdquo games, players are inherently faced with limitations in both their observational and computational capabilities. Accordingly, players in large-scale games need to make their decisions using algorithms that accommodate limitations in information gathering and processing. This disqualifies some of the well known decision making models such as ldquoFictitious Playrdquo (FP), in which each player must monitor the individual actions of every other player and must optimize over a high dimensional probability space. We will show that Joint Strategy Fictitious Play (JSFP), a close variant of FP, alleviates both the informational and computational burden of FP. Furthermore, we introduce JSFP with inertia, i.e., a probabilistic reluctance to change strategies, and establish the convergence to a pure Nash equilibrium in all generalized ordinal potential games in both cases of averaged or exponentially discounted historical data. We illustrate JSFP with inertia on the specific class of congestion games, a subset of generalized ordinal potential games. In particular, we illustrate the main results on a distributed traffic routing problem and derive tolling procedures that can lead to optimized total traffic congestion

High country river processes : a technical discussion of results from research on the Kowai River system, Springfield, Canterbury

A sub-catchment (Torlesse Stream) of the Kowai River, Canterbury, has been the site of an interdisciplinary study of the relationships between erosion and stream sedimentation (Hayward 1975). It was logical to extend the stream sediment investigation of that study (Hayward 1978) into the Kowai system proper in order to establish changes in the nature and distribution of the stream sediments with distance downstream. The sediment sampling study, comprising Part I of Paper A in this volume, analyses the changes in size, distribution, form and rock type of the river gravels from ahead water mountain stream to the wide braided river beds of the middle reaches of the Kowai River. Part 2 of Paper A discusses the possible implications for the management that these sediment studies have for this and other similar river systems. It is believed that if thought necessary it is possible to design a river training programme to guide the river towards a more manageable pattern. Paper B of this volume compares the results of the present river gravel survey with those from a sedimentological analysis of fluvio-glacial outwash gravels deposited several thousand years ago within the lower reaches of the Kowai system. This comparative study is used to indicate differences in the hydrologic environment prevailing at their respective times of deposition, and aids in our understanding of the processes at work in hill and high country rivers today. Both Papers A and B relate to the Kowai River system, but the authors wish to emphasise that the findings from these studies are believed to have application to other similar gravel bed river systems

Efficient Model Learning for Human-Robot Collaborative Tasks

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any human intervention. First, we describe the clustering of demonstrated action sequences into different human types using an unsupervised learning algorithm. These demonstrated sequences are also used by the robot to learn a reward function that is representative for each type, through the employment of an inverse reinforcement learning algorithm. The learned model is then used as part of a Mixed Observability Markov Decision Process formulation, wherein the human type is a partially observable variable. With this framework, we can infer, either offline or online, the human type of a new user that was not included in the training set, and can compute a policy for the robot that will be aligned to the preference of this new user and will be robust to deviations of the human actions from prior demonstrations. Finally we validate the approach using data collected in human subject experiments, and conduct proof-of-concept demonstrations in which a person performs a collaborative task with a small industrial robot

Flows and Decompositions of Games: Harmonic and Potential Games

In this paper we introduce a novel flow representation for finite games in strategic form. This representation allows us to develop a canonical direct sum decomposition of an arbitrary game into three components, which we refer to as the potential, harmonic and nonstrategic components. We analyze natural classes of games that are induced by this decomposition, and in particular, focus on games with no harmonic component and games with no potential component. We show that the first class corresponds to the well-known potential games. We refer to the second class of games as harmonic games, and study the structural and equilibrium properties of this new class of games. Intuitively, the potential component of a game captures interactions that can equivalently be represented as a common interest game, while the harmonic part represents the conflicts between the interests of the players. We make this intuition precise, by studying the properties of these two classes, and show that indeed they have quite distinct and remarkable characteristics. For instance, while finite potential games always have pure Nash equilibria, harmonic games generically never do. Moreover, we show that the nonstrategic component does not affect the equilibria of a game, but plays a fundamental role in their efficiency properties, thus decoupling the location of equilibria and their payoff-related properties. Exploiting the properties of the decomposition framework, we obtain explicit expressions for the projections of games onto the subspaces of potential and harmonic games. This enables an extension of the properties of potential and harmonic games to "nearby" games. We exemplify this point by showing that the set of approximate equilibria of an arbitrary game can be characterized through the equilibria of its projection onto the set of potential games

Tunneling and the Band Structure of Chaotic Systems

We compute the dispersion laws of chaotic periodic systems using the semiclassical periodic orbit theory to approximate the trace of the powers of the evolution operator. Aside from the usual real trajectories, we also include complex orbits. These turn out to be fundamental for a proper description of the band structure since they incorporate conduction processes through tunneling mechanisms. The results obtained, illustrated with the kicked-Harper model, are in excellent agreement with numerical simulations, even in the extreme quantum regime.Comment: 11 pages, Latex, figures on request to the author (to be sent by fax

Chaotic maps and flows: Exact Riemann-Siegel lookalike for spectral fluctuations

To treat the spectral statistics of quantum maps and flows that are fully chaotic classically, we use the rigorous Riemann-Siegel lookalike available for the spectral determinant of unitary time evolution operators $F$. Concentrating on dynamics without time reversal invariance we get the exact two-point correlator of the spectral density for finite dimension $N$ of the matrix representative of $F$, as phenomenologically given by random matrix theory. In the limit $N\to\infty$ the correlator of the Gaussian unitary ensemble is recovered. Previously conjectured cancellations of contributions of pseudo-orbits with periods beyond half the Heisenberg time are shown to be implied by the Riemann-Siegel lookalike

Path Defense in Dynamic Defender-Attacker Blotto Games (dDAB) with Limited Information

We consider a path guarding problem in dynamic Defender-Attacker Blotto games (dDAB), where a team of robots must defend a path in a graph against adversarial agents. Multi-robot systems are particularly well suited to this application, as recent work has shown the effectiveness of these systems in related areas such as perimeter defense and surveillance. When designing a defender policy that guarantees the defense of a path, information about the adversary and the environment can be helpful and may reduce the number of resources required by the defender to achieve a sufficient level of security. In this work, we characterize the necessary and sufficient number of assets needed to guarantee the defense of a shortest path between two nodes in dDAB games when the defender can only detect assets within $k$-hops of a shortest path. By characterizing the relationship between sensing horizon and required resources, we show that increasing the sensing capability of the defender greatly reduces the number of defender assets needed to defend the path

Quantum Chaotic Dynamics and Random Polynomials

We investigate the distribution of roots of polynomials of high degree with random coefficients which, among others, appear naturally in the context of "quantum chaotic dynamics". It is shown that under quite general conditions their roots tend to concentrate near the unit circle in the complex plane. In order to further increase this tendency, we study in detail the particular case of self-inversive random polynomials and show that for them a finite portion of all roots lies exactly on the unit circle. Correlation functions of these roots are also computed analytically, and compared to the correlations of eigenvalues of random matrices. The problem of ergodicity of chaotic wave-functions is also considered. For that purpose we introduce a family of random polynomials whose roots spread uniformly over phase space. While these results are consistent with random matrix theory predictions, they provide a new and different insight into the problem of quantum ergodicity. Special attention is devoted all over the paper to the role of symmetries in the distribution of roots of random polynomials.Comment: 33 pages, Latex, 6 Figures not included (a copy of them can be requested at [email protected]); to appear in Journal of Statistical Physic

The Asymptotic distribution of circles in the orbits of Kleinian groups

Let P be a locally finite circle packing in the plane invariant under a non-elementary Kleinian group Gamma and with finitely many Gamma-orbits. When Gamma is geometrically finite, we construct an explicit Borel measure on the plane which describes the asymptotic distribution of small circles in P, assuming that either the critical exponent of Gamma is strictly bigger than 1 or P does not contain an infinite bouquet of tangent circles glued at a parabolic fixed point of Gamma. Our construction also works for P invariant under a geometrically infinite group Gamma, provided Gamma admits a finite Bowen-Margulis-Sullivan measure and the Gamma-skinning size of P is finite. Some concrete circle packings to which our result applies include Apollonian circle packings, Sierpinski curves, Schottky dances, etc.Comment: 31 pages, 8 figures. Final version. To appear in Inventiones Mat

A Lovelock black hole bestiary

We revisit the study of (A)dS black holes in Lovelock theories. We present a new tool that allows to attack this problem in full generality. In analyzing maximally symmetric Lovelock black holes with non-planar horizon topologies many distinctive and interesting features are observed. Among them, the existence of maximally symmetric vacua do not supporting black holes in vast regions of the space of gravitational couplings, multi-horizon black holes, and branches of solutions that suggest the existence of a rich diagram of phase transitions. The appearance of naked singularities seems unavoidable in some cases, raising the question about the fate of the cosmic censorship conjecture in these theories. There is a preferred branch of solutions for planar black holes, as well as non-planar black holes with high enough mass or temperature. Our study clarifies the role of all branches of solutions, including asymptotically dS black holes, and whether they should be considered when studying these theories in the context of AdS/CFT.Comment: 40 pages, 16 figures; v2: references added and minor amendments; v3: title changed to improve its accuracy and general reorganization of the results to ameliorate their presentatio