Deep active learning for autonomous navigation.

Imitation learning refers to an agent's ability to mimic a desired behavior by learning from observations. A major challenge facing learning from demonstrations is to represent the demonstrations in a manner that is adequate for learning and efficient for real time decisions. Creating feature representations is especially challenging when extracted from high dimensional visual data. In this paper, we present a method for imitation learning from raw visual data. The proposed method is applied to a popular imitation learning domain that is relevant to a variety of real life applications; namely navigation. To create a training set, a teacher uses an optimal policy to perform a navigation task, and the actions taken are recorded along with visual footage from the first person perspective. Features are automatically extracted and used to learn a policy that mimics the teacher via a deep convolutional neural network. A trained agent can then predict an action to perform based on the scene it finds itself in. This method is generic, and the network is trained without knowledge of the task, targets or environment in which it is acting. Another common challenge in imitation learning is generalizing a policy over unseen situation in training data. To address this challenge, the learned policy is subsequently improved by employing active learning. While the agent is executing a task, it can query the teacher for the correct action to take in situations where it has low confidence. The active samples are added to the training set and used to update the initial policy. The proposed approach is demonstrated on 4 different tasks in a 3D simulated environment. The experiments show that an agent can effectively perform imitation learning from raw visual data for navigation tasks and that active learning can significantly improve the initial policy using a small number of samples. The simulated test bed facilitates reproduction of these results and comparison with other approaches

AI Researchers, Video Games Are Your Friends!

If you are an artificial intelligence researcher, you should look to video games as ideal testbeds for the work you do. If you are a video game developer, you should look to AI for the technology that makes completely new types of games possible. This chapter lays out the case for both of these propositions. It asks the question "what can video games do for AI", and discusses how in particular general video game playing is the ideal testbed for artificial general intelligence research. It then asks the question "what can AI do for video games", and lays out a vision for what video games might look like if we had significantly more advanced AI at our disposal. The chapter is based on my keynote at IJCCI 2015, and is written in an attempt to be accessible to a broad audience.Comment: in Studies in Computational Intelligence Studies in Computational Intelligence, Volume 669 2017. Springe

The Multi-Agent Programming Contest: A r\'esum\'e

The Multi-Agent Programming Contest, MAPC, is an annual event organized since 2005 out of Clausthal University of Technology. Its aim is to investigate the potential of using decentralized, autonomously acting intelligent agents, by providing a complex scenario to be solved in a competitive environment. For this we need suitable benchmarks where agent-based systems can shine. We present previous editions of the contest and also its current scenario and results from its use in the 2019 MAPC with a special focus on its suitability. We conclude with lessons learned over the years.Comment: Submitted to the proceedings of the Multi-Agent Programming Contest 2019, to appear in Springer Lect. Notes Computer Challenges Series https://www.springer.com/series/1652

Evolving Behaviour Tree Structures Using Grammatical Evolution

Behaviour Trees are control structures with many applications in computer science, including robotics, control systems, and computer games. They allow the specification of controllers from very broad behaviour definitions (close to the root of the tree) down to very specific technical implementations (near the leaves); this allows them to be understood and extended by both behaviour designers and technical programmers. This chapter describes the process of applying Grammatical Evolution (GE) to evolve Behaviour Trees for a real-time video-game: the Mario AI Benchmark. The results obtained show that these structures are quite amenable to artificial evolution using GE, and can provide a good balance between long-term (pathfinding) and short-term (reactiveness to hazards and power-ups) planning within the same structure