Typical educational robotics approaches rely on imperative programming for robot navigation. However, with the increasing presence of AI in everyday life, these approaches miss an opportunity to introduce machine learning (ML) techniques grounded in an authentic and engaging learning context. Furthermore, the needs for costly specialized equipment and ample physical space are barriers that limit access to robotics experiences for all learners. We propose ARtonomous, a relatively low-cost, virtual alternative to physical, programming-only robotics kits. With ARtonomous, students employ reinforcement learning (RL) alongside code to train and customize virtual autonomous robotic vehicles. Through a study evaluating ARtonomous, we found that middle-school students developed an understanding of RL, reported high levels of engagement, and demonstrated curiosity for learning more about ML. This research demonstrates the feasibility of an approach like ARtonomous for 1) eliminating barriers to robotics education and 2) promoting student learning and interest in RL and ML.
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When a natural language generation (NLG) component is implemented in a real-world task-oriented dialogue system, it is necessary to generate not only natural utterances as learned on training data but also utterances adapted to the dialogue environment (e.g., noise from environmental sounds) and the user (e.g., users with low levels of understanding ability). Inspired by recent advances in reinforcement learning (RL) for language generation tasks, we propose ANTOR, a method for Adaptive Natural language generation for Task-Oriented dialogue via Reinforcement learning. In ANTOR, a natural language understanding (NLU) module, which corresponds to the user's understanding of system utterances, is incorporated into the objective function of RL. If the NLG's intentions are correctly conveyed to the NLU, which understands a system's utterances, the NLG is given a positive reward. We conducted experiments on the MultiWOZ dataset, and we confirmed that ANTOR could generate adaptive utterances against speech recognition errors and the different vocabulary levels of users.
Federated learning (FL) is one of the most appealing alternatives to the standard centralized learning paradigm, allowing heterogeneous set of devices to train a machine learning model without sharing their raw data. However, FL requires a central server to coordinate the learning process, thus introducing potential scalability and security issues. In the literature, server-less FL approaches like gossip federated learning (GFL) and blockchain-enabled federated learning (BFL) have been proposed to mitigate these issues. In this work, we propose a complete overview of these three techniques proposing a comparison according to an integral set of performance indicators, including model accuracy, time complexity, communication overhead, convergence time and energy consumption. An extensive simulation campaign permits to draw a quantitative analysis. In particular, GFL is able to save the 18% of training time, the 68% of energy and the 51% of data to be shared with respect to the CFL solution, but it is not able to reach the level of accuracy of CFL. On the other hand, BFL represents a viable solution for implementing decentralized learning with a higher level of security, at the cost of an extra energy usage and data sharing. Finally, we identify open issues on the two decentralized federated learning implementations and provide insights on potential extensions and possible research directions on this new research field.
There is still a significant gap between expectations and the successful adoption of AI to innovate and improve businesses. Due to the emergence of deep learning, AI adoption is more complex as it often incorporates big data and the internet of things, affecting data privacy. Existing frameworks have identified the need to focus on human-centered design, combining technical and business/organizational perspectives. However, trust remains a critical issue that needs to be designed from the beginning. The proposed framework expands from the human-centered design approach, emphasizing and maintaining the trust that underpins the process. This paper proposes a theoretical framework for responsible artificial intelligence (AI) implementation. The proposed framework emphasizes a synergistic business technology approach for the agile co-creation process. The aim is to streamline the adoption process of AI to innovate and improve business by involving all stakeholders throughout the project so that the AI technology is designed, developed, and deployed in conjunction with people and not in isolation. The framework presents a fresh viewpoint on responsible AI implementation based on analytical literature review, conceptual framework design, and practitioners' mediating expertise. The framework emphasizes establishing and maintaining trust throughout the human-centered design and agile development of AI. This human-centered approach is aligned with and enabled by the privacy by design principle. The creators of the technology and the end-users are working together to tailor the AI solution specifically for the business requirements and human characteristics. An illustrative case study on adopting AI for assisting planning in a hospital will demonstrate that the proposed framework applies to real-life applications.
Designing profitable and reliable trading strategies is challenging in the highly volatile cryptocurrency market. Existing works applied deep reinforcement learning methods and optimistically reported increased profits in backtesting, which may suffer from the false positive issue due to overfitting. In this paper, we propose a practical approach to address backtest overfitting for cryptocurrency trading using deep reinforcement learning. First, we formulate the detection of backtest overfitting as a hypothesis test. Then, we train the DRL agents, estimate the probability of overfitting, and reject the overfitted agents, increasing the chance of good trading performance. Finally, on 10 cryptocurrencies over a testing period from 05/01/2022 to 06/27/2022 (during which the crypto market crashed two times), we show that the less overfitted deep reinforcement learning agents have a higher Sharpe ratio than that of more over-fitted agents, an equal weight strategy, and the S&P DBM Index (market benchmark), offering confidence in possible deployment to a real market.
Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and extreme deformations, enabling them to navigate unstructured terrain and even survive harsh impacts. However, they are hard to control due to their high dimensionality, complex dynamics, and coupled architecture. Physics-based simulation is one avenue for developing locomotion policies that can then be transferred to real robots, but modeling tensegrity robots is a complex task, so simulations experience a substantial sim2real gap. To address this issue, this paper describes a Real2Sim2Real strategy for tensegrity robots. This strategy is based on a differential physics engine that can be trained given limited data from a real robot (i.e. offline measurements and one random trajectory) and achieve a high enough accuracy to discover transferable locomotion policies. Beyond the overall pipeline, key contributions of this work include computing non-zero gradients at contact points, a loss function, and a trajectory segmentation technique that avoid conflicts in gradient evaluation during training. The proposed pipeline is demonstrated and evaluated on a real 3-bar tensegrity robot.
Advances in artificial intelligence often stem from the development of new environments that abstract real-world situations into a form where research can be done conveniently. This paper contributes such an environment based on ideas inspired by elementary Microeconomics. Agents learn to produce resources in a spatially complex world, trade them with one another, and consume those that they prefer. We show that the emergent production, consumption, and pricing behaviors respond to environmental conditions in the directions predicted by supply and demand shifts in Microeconomics. We also demonstrate settings where the agents' emergent prices for goods vary over space, reflecting the local abundance of goods. After the price disparities emerge, some agents then discover a niche of transporting goods between regions with different prevailing prices -- a profitable strategy because they can buy goods where they are cheap and sell them where they are expensive. Finally, in a series of ablation experiments, we investigate how choices in the environmental rewards, bartering actions, agent architecture, and ability to consume tradable goods can either aid or inhibit the emergence of this economic behavior. This work is part of the environment development branch of a research program that aims to build human-like artificial general intelligence through multi-agent interactions in simulated societies. By exploring which environment features are needed for the basic phenomena of elementary microeconomics to emerge automatically from learning, we arrive at an environment that differs from those studied in prior multi-agent reinforcement learning work along several dimensions. For example, the model incorporates heterogeneous tastes and physical abilities, and agents negotiate with one another as a grounded form of communication.
Autonomous driving has achieved a significant milestone in research and development over the last decade. There is increasing interest in the field as the deployment of self-operating vehicles on roads promises safer and more ecologically friendly transportation systems. With the rise of computationally powerful artificial intelligence (AI) techniques, autonomous vehicles can sense their environment with high precision, make safe real-time decisions, and operate more reliably without human interventions. However, intelligent decision-making in autonomous cars is not generally understandable by humans in the current state of the art, and such deficiency hinders this technology from being socially acceptable. Hence, aside from making safe real-time decisions, the AI systems of autonomous vehicles also need to explain how these decisions are constructed in order to be regulatory compliant across many jurisdictions. Our study sheds a comprehensive light on developing explainable artificial intelligence (XAI) approaches for autonomous vehicles. In particular, we make the following contributions. First, we provide a thorough overview of the present gaps with respect to explanations in the state-of-the-art autonomous vehicle industry. We then show the taxonomy of explanations and explanation receivers in this field. Thirdly, we propose a framework for an architecture of end-to-end autonomous driving systems and justify the role of XAI in both debugging and regulating such systems. Finally, as future research directions, we provide a field guide on XAI approaches for autonomous driving that can improve operational safety and transparency towards achieving public approval by regulators, manufacturers, and all engaged stakeholders.
Games and simulators can be a valuable platform to execute complex multi-agent, multiplayer, imperfect information scenarios with significant parallels to military applications: multiple participants manage resources and make decisions that command assets to secure specific areas of a map or neutralize opposing forces. These characteristics have attracted the artificial intelligence (AI) community by supporting development of algorithms with complex benchmarks and the capability to rapidly iterate over new ideas. The success of artificial intelligence algorithms in real-time strategy games such as StarCraft II have also attracted the attention of the military research community aiming to explore similar techniques in military counterpart scenarios. Aiming to bridge the connection between games and military applications, this work discusses past and current efforts on how games and simulators, together with the artificial intelligence algorithms, have been adapted to simulate certain aspects of military missions and how they might impact the future battlefield. This paper also investigates how advances in virtual reality and visual augmentation systems open new possibilities in human interfaces with gaming platforms and their military parallels.
We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.
A Survey of Reinforcement Learning Techniques: Strategies, Recent Development, and Future Directions
Reinforcement learning is one of the core components in designing an artificial intelligent system emphasizing real-time response. Reinforcement learning influences the system to take actions within an arbitrary environment either having previous knowledge about the environment model or not. In this paper, we present a comprehensive study on Reinforcement Learning focusing on various dimensions including challenges, the recent development of different state-of-the-art techniques, and future directions. The fundamental objective of this paper is to provide a framework for the presentation of available methods of reinforcement learning that is informative enough and simple to follow for the new researchers and academics in this domain considering the latest concerns. First, we illustrated the core techniques of reinforcement learning in an easily understandable and comparable way. Finally, we analyzed and depicted the recent developments in reinforcement learning approaches. My analysis pointed out that most of the models focused on tuning policy values rather than tuning other things in a particular state of reasoning.
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