Interesting improvements in MC localization

April 11, 2024 11:42 ,

Alireza Mohseni, Vincent Duchaine, Tony Wong, Improvement in Monte Carlo localization using information theory and statistical approaches, Engineering Applications of Artificial Intelligence, Volume 131, 2024 DOI: 10.1016/j.engappai.2024.107897.

Monte Carlo localization methods deploy a particle filter to resolve a hidden Markov process based on recursive Bayesian estimation, which approximates the internal states of a dynamic system given observation data. When the observed data are corrupted by outliers, the particle filter’s performance may deteriorate, preventing the algorithm from accurately computing dynamic system states such as a robot’s position, which in turn reduces the accuracy of the localization and navigation. In this paper, the notion of information entropy is used to identify outliers. Then, a probability-based approach is used to remove the discovered outliers. In addition, a new mutation process is added to the localization algorithm to exploit the posterior probability density function in order to actively detect the high-likelihood region. The goal of incorporating the mutation operator into this method is to solve the problem of algorithm impoverishment which is due to insufficient representation of the complete probability density function. Simulation experiments are used to confirm the effectiveness of the proposed techniques. They also are employed to predict the remaining viability of a lithium-ion battery. Furthermore, in an experimental study, the modified Monte Carlo localization algorithm was applied to a mobile robot to demonstrate the local planner’s improved accuracy. The test results indicate that developed techniques are capable of effectively capturing the dynamic behavior of a system and accurately tracking its characteristics.

Posted in: Mobile Robot Localization , Tagged:

What attention is (from a cognitive science point of view)

April 3, 2024 13:06 ,

Wayne Wu, We know what attention is!, Trends in Cognitive Sciences, Volume 28, Issue 4, 2024 DOI: 10.1016/j.tics.2023.11.007.

Attention is one of the most thoroughly investigated psychological phenomena, yet skepticism about attention is widespread: we do not know what it is, it is too many things, there is no such thing. The deficiencies highlighted are not about experimental work but the adequacy of the scientific theory of attention. Combining common scientific claims about attention into a single theory leads to internal inconsistency. This paper demonstrates that a specific functional conception of attention is incorporated into the tasks used in standard experimental paradigms. In accepting these paradigms as valid probes of attention, we commit to this common conception. The conception unifies work at multiple levels of analysis into a coherent scientific explanation of attention. Thus, we all know what attention is.

Posted in: Psycho-physiological bases of engineering , Tagged:

On how much imagery can be said to be real or not by the human brain

April 3, 2024 13:03 ,

Rebecca Keogh, Reality check: how do we know what’s real?, Trends in Cognitive Sciences, Volume 28, Issue 4, 2024 DOI: 10.1016/j.tics.2023.06.001.

How do we know what is real and what is merely a figment of our imagination? Dijkstra and Fleming tackle this question in a recent study. In contrast to the classic Perky effect, they found that once imagery crosses a ‘reality threshold’, it becomes difficult to distinguish from reality.

Posted in: Psycho-physiological bases of engineering , Tagged:

Learning how to reset the episode in RL

April 3, 2024 12:59 ,

S. -H. Lee and S. -W. Seo, Self-Supervised Curriculum Generation for Autonomous Reinforcement Learning Without Task-Specific Knowledge, IEEE Robotics and Automation Letters, vol. 9, no. 5, pp. 4043-4050, May 2024 DOI: 10.1109/LRA.2024.3375714.

A significant bottleneck in applying current reinforcement learning algorithms to real-world scenarios is the need to reset the environment between every episode. This reset process demands substantial human intervention, making it difficult for the agent to learn continuously and autonomously. Several recent works have introduced autonomous reinforcement learning (ARL) algorithms that generate curricula for jointly training reset and forward policies. While their curricula can reduce the number of required manual resets by taking into account the agent’s learning progress, they rely on task-specific knowledge, such as predefined initial states or reset reward functions. In this paper, we propose a novel ARL algorithm that can generate a curriculum adaptive to the agent’s learning progress without task-specific knowledge. Our curriculum empowers the agent to autonomously reset to diverse and informative initial states. To achieve this, we introduce a success discriminator that estimates the success probability from each initial state when the agent follows the forward policy. The success discriminator is trained with relabeled transitions in a self-supervised manner. Our experimental results demonstrate that our ARL algorithm can generate an adaptive curriculum and enable the agent to efficiently bootstrap to solve sparse-reward maze navigation and manipulation tasks, outperforming baselines with significantly fewer manual resets.

Posted in: Applications of reinforcement learning to robots , Tagged:

Networked differential telerrobot remotely controlled in spite of disturbances and delays

April 3, 2024 12:51 ,

Luca Nanu, Luigi Colangelo, Carlo Novara, Carlos Perez Montenegro, Embedded model control of networked control systems: An experimental robotic application, Mechatronics, Volume 99, 2024 DOI: 10.1016/j.mechatronics.2024.103160.

In Networked Control System (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. In general, these issues may significantly compromise the performance of the NCS, possibly causing unstable behaviours. This paper presents an original approach to the design of a complete digital control unit for a system characterized by a varying sampling time and asynchronous command execution. The approach is based on the Embedded Model Control (EMC) methodology, whose key feature is the estimation of the disturbances, errors and nonlinearities affecting the plant to control and their online cancellation. In this way, measurement delays and execution asynchronicity are treated as errors and rejected up to a given frequency by the EMC unit. The effectiveness of the proposed approach is demonstrated in a real-world case-study, where the NCS consists of a differential-drive mobile robot (the plant) and a control unit, and the two subsystems communicate through the web without physical connection links. After a preliminary verification using a high-fidelity numerical simulator, the designed controller is validated in several experimental tests, carried out on a real-time embedded system incorporated in the robotic platform.

Posted in: Networked telerobots , Tagged:

Improving EKF and UKF when diverse precision sensors are used for localization through adaptive covariances

April 3, 2024 12:43 ,

Giseo Park, Optimal vehicle position estimation using adaptive unscented Kalman filter based on sensor fusion, Mechatronics, Volume 99, 2024 DOI: 10.1016/j.mechatronics.2024.103144.

Precise position recognition systems are actively used in various automotive technology fields such as autonomous vehicles, intelligent transportation systems, and vehicle driving safety systems. In line with this demand, this paper proposes a new vehicle position estimation algorithm based on sensor fusion between low-cost standalone global positioning system (GPS) and inertial measurement unit (IMU) sensors. In order to estimate accurate vehicle position information using two complementary sensor types, adaptive unscented Kalman filter (AUKF), an optimal state estimation algorithm, is applied to the vehicle kinematic model. Since this AUKF includes an adaptive covariance matrix whose value changes under GPS outage conditions, it has high estimation robustness even if the accuracy of the GPS measurement signal is low. Through comparison of estimation errors with both extended Kalman filter (EKF) and UKF, which are widely used state estimation algorithms, it can be confirmed how improved the estimation performance of the proposed AUKF algorithm in real-vehicle experiments is. The given test course includes roads of various shapes as well as GPS outage sections, so it is suitable for evaluating vehicle position estimation performance.

Posted in: Mobile Robot Localization , Tagged: ,

POMDPs focused on obtaining policies that can be understood well just through the observation of the robot actions

April 3, 2024 12:39 ,

Miguel Faria, Francisco S. Melo, Ana Paiva, “Guess what I’m doing”: Extending legibility to sequential decision tasks, Artificial Intelligence, Volume 330, 2024 DOI: 10.1016/j.artint.2024.104107.

In this paper we investigate the notion of legibility in sequential decision tasks under uncertainty. Previous works that extend legibility to scenarios beyond robot motion either focus on deterministic settings or are computationally too expensive. Our proposed approach, dubbed PoLMDP, is able to handle uncertainty while remaining computationally tractable. We establish the advantages of our approach against state-of-the-art approaches in several scenarios of varying complexity. We also showcase the use of our legible policies as demonstrations in machine teaching scenarios, establishing their superiority in teaching new behaviours against the commonly used demonstrations based on the optimal policy. Finally, we assess the legibility of our computed policies through a user study, where people are asked to infer the goal of a mobile robot following a legible policy by observing its actions.

Posted in: Reinforcement learning in AI , Tagged: , ,

On the influence of the representations obtained through Deep RL in the learning process

April 3, 2024 12:35 ,

Han Wang, Erfan Miahi, Martha White, Marlos C. Machado, Zaheer Abbas, Raksha Kumaraswamy, Vincent Liu, Adam White, Investigating the properties of neural network representations in reinforcement learning, Artificial Intelligence, Volume 330, 2024 DOI: 10.1016/j.artint.2024.104100.

In this paper we investigate the properties of representations learned by deep reinforcement learning systems. Much of the early work on representations for reinforcement learning focused on designing fixed-basis architectures to achieve properties thought to be desirable, such as orthogonality and sparsity. In contrast, the idea behind deep reinforcement learning methods is that the agent designer should not encode representational properties, but rather that the data stream should determine the properties of the representation—good representations emerge under appropriate training schemes. In this paper we bring these two perspectives together, empirically investigating the properties of representations that support transfer in reinforcement learning. We introduce and measure six representational properties over more than 25,000 agent-task settings. We consider Deep Q-learning agents with different auxiliary losses in a pixel-based navigation environment, with source and transfer tasks corresponding to different goal locations. We develop a method to better understand why some representations work better for transfer, through a systematic approach varying task similarity and measuring and correlating representation properties with transfer performance. We demonstrate the generality of the methodology by investigating representations learned by a Rainbow agent that successfully transfers across Atari 2600 game modes.

Posted in: Reinforcement learning in AI , Tagged:

Graph NNs in RL for improving sample efficiency

March 14, 2024 15:39 ,

Feng Zhang, Chengbin Xuan, Hak-Keung Lam, An obstacle avoidance-specific reinforcement learning method based on fuzzy attention mechanism and heterogeneous graph neural networks, Engineering Applications of Artificial Intelligence, Volume 130, 2024 DOI: 10.1016/j.engappai.2023.107764.

Deep reinforcement learning (RL) is an advancing learning tool to handle robotics control problems. However, it typically suffers from sample efficiency and effectiveness. The emergence of Graph Neural Networks (GNNs) enables the integration of the RL and graph representation learning techniques. It realises outstanding training performance and transfer capability by forming controlling scenarios into the corresponding graph domain. Nevertheless, the existing approaches strongly depend on the artificial graph formation processes with intensive bias and cannot propagate messages discriminatively on explicit physical dependence, which leads to restricted flexibility, size transfer capability and suboptimal performance. This paper proposes a fuzzy attention mechanism-based heterogeneous graph neural network (FAM-HGNN) framework for resolving the control problem under the RL context. FAM emphasises the significant connections and weakening of the trivial connections in a fully connected graph, which mitigates the potential negative influence caused by the artificial graph formation process. HGNN obtains a higher level of relational inductive bias by conducting graph propagations on a masked graph. Experimental results show that our FAM-HGNN outperforms the multi-layer perceptron-based and the existing GNN-based RL approaches regarding training performance and size transfer capability. We also conducted an ablation study and sensitivity analysis to validate the efficacy of the proposed method further.

Posted in: Applications of reinforcement learning to robots , Tagged: , ,

Using RL as a framework to study political issues

March 7, 2024 09:33 ,

Lion Schulz, Rahul Bhui, Political reinforcement learners, Trends in Cognitive Sciences, Volume 28, Issue 3, 2024, Pages 210-222 DOI: 10.1016/j.tics.2023.12.001.

Politics can seem home to the most calculating and yet least rational elements of humanity. How might we systematically characterize this spectrum of political cognition? Here, we propose reinforcement learning (RL) as a unified framework to dissect the political mind. RL describes how agents algorithmically navigate complex and uncertain domains like politics. Through this computational lens, we outline three routes to political differences, stemming from variability in agents\u2019 conceptions of a problem, the cognitive operations applied to solve the problem, or the backdrop of information available from the environment. A computational vantage on maladies of the political mind offers enhanced precision in assessing their causes, consequences, and cures.

Posted in: Cognitive sciences , Tagged: ,