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The use of autonomous robots for delivery of goods to customers is an exciting new way to provide a reliable and sustainable service. However, in the real world, autonomous robots still require human supervision for safety reasons. We tackle the realworld problem of optimizing autonomous robot timings to maximize deliveries, while ensuring that there are never too many robots running simultaneously so that they can be monitored safely. We assess the use of a recent hybrid machine-learningoptimization approach COIL (constrained optimization in learned latent space) and compare it with a baseline genetic algorithm for the purposes of exploring variations of this problem. We also investigate new methods for improving the speed and efficiency of COIL. We show that only COIL can find valid solutions where appropriate numbers of robots run simultaneously for all problem variations tested. We also show that when COIL has learned its latent representation, it can optimize 10% faster than the GA, making it a good choice for daily re-optimization of robots where delivery requests for each day are allocated to robots while maintaining safe numbers of robots running at once.

We integrate foundational theories of meaning with a mathematical formalism of artificial general intelligence (AGI) to offer a comprehensive mechanistic explanation of meaning, communication, and symbol emergence. This synthesis holds significance for both AGI and broader debates concerning the nature of language, as it unifies pragmatics, logical truth conditional semantics, Peircean semiotics, and a computable model of enactive cognition, addressing phenomena that have traditionally evaded mechanistic explanation. By examining the conditions under which a machine can generate meaningful utterances or comprehend human meaning, we establish that the current generation of language models do not possess the same understanding of meaning as humans nor intend any meaning that we might attribute to their responses. To address this, we propose simulating human feelings and optimising models to construct weak representations. Our findings shed light on the relationship between meaning and intelligence, and how we can build machines that comprehend and intend meaning.

This paper compares three controllers for quasi-passive exoskeletons. The Utility Maximizing Controller (UMC) uses intent estimation to recognize user motions and decision theory to activate the support mechanism. The intent estimation algorithm requires demonstrations for each motion to be recognized. Depending on what motion is recognized, different control signals are sent to the exoskeleton. The Extended UMC (E-UMC) adds a calibration step and a velocity module to trigger the UMC. As a benchmark, and to compare the behavior of the controllers irrespective of the hardware, a Passive Exoskeleton Controller (PEC) is developed as well. The controllers were implemented on a hip exoskeleton and evaluated in a user study consisting of two phases. First, demonstrations of three motions were recorded: squat, stoop left and stoop right. Afterwards, the controllers were evaluated. The E-UMC combines benefits from the UMC and the PEC, confirming the need for the two extensions. The E-UMC discriminates between the three motions and does not generate false positives for previously unseen motions such as stair walking. The proposed methods can also be applied to support other motions.

State abstraction optimizes decision-making by ignoring irrelevant environmental information in reinforcement learning with rich observations. Nevertheless, recent approaches focus on adequate representational capacities resulting in essential information loss, affecting their performances on challenging tasks. In this article, we propose a novel mathematical Structural Information principles-based State Abstraction framework, namely SISA, from the information-theoretic perspective. Specifically, an unsupervised, adaptive hierarchical state clustering method without requiring manual assistance is presented, and meanwhile, an optimal encoding tree is generated. On each non-root tree node, a new aggregation function and condition structural entropy are designed to achieve hierarchical state abstraction and compensate for sampling-induced essential information loss in state abstraction. Empirical evaluations on a visual gridworld domain and six continuous control benchmarks demonstrate that, compared with five SOTA state abstraction approaches, SISA significantly improves mean episode reward and sample efficiency up to 18.98 and 44.44%, respectively. Besides, we experimentally show that SISA is a general framework that can be flexibly integrated with different representation-learning objectives to improve their performances further.

Autonomous vehicles are a growing technology that aims to enhance safety, accessibility, efficiency, and convenience through autonomous maneuvers ranging from lane change to overtaking. Overtaking is one of the most challenging maneuvers for autonomous vehicles, and current techniques for autonomous overtaking are limited to simple situations. This paper studies how to increase safety in autonomous overtaking by allowing the maneuver to be aborted. We propose a decision-making process based on a deep Q-Network to determine if and when the overtaking maneuver needs to be aborted. The proposed algorithm is empirically evaluated in simulation with varying traffic situations, indicating that the proposed method improves safety during overtaking maneuvers. Furthermore, the approach is demonstrated in real-world experiments using the autonomous shuttle iseAuto.

The field of Sequential Decision Making (SDM) provides tools for solving Sequential Decision Processes (SDPs), where an agent must make a series of decisions in order to complete a task or achieve a goal. Historically, two competing SDM paradigms have view for supremacy. Automated Planning (AP) proposes to solve SDPs by performing a reasoning process over a model of the world, often represented symbolically. Conversely, Reinforcement Learning (RL) proposes to learn the solution of the SDP from data, without a world model, and represent the learned knowledge subsymbolically. In the spirit of reconciliation, we provide a review of symbolic, subsymbolic and hybrid methods for SDM. We cover both methods for solving SDPs (e.g., AP, RL and techniques that learn to plan) and for learning aspects of their structure (e.g., world models, state invariants and landmarks). To the best of our knowledge, no other review in the field provides the same scope. As an additional contribution, we discuss what properties an ideal method for SDM should exhibit and argue that neurosymbolic AI is the current approach which most closely resembles this ideal method. Finally, we outline several proposals to advance the field of SDM via the integration of symbolic and subsymbolic AI.

While deep reinforcement learning (RL) has fueled multiple high-profile successes in machine learning, it is held back from more widespread adoption by its often poor data efficiency and the limited generality of the policies it produces. A promising approach for alleviating these limitations is to cast the development of better RL algorithms as a machine learning problem itself in a process called meta-RL. Meta-RL is most commonly studied in a problem setting where, given a distribution of tasks, the goal is to learn a policy that is capable of adapting to any new task from the task distribution with as little data as possible. In this survey, we describe the meta-RL problem setting in detail as well as its major variations. We discuss how, at a high level, meta-RL research can be clustered based on the presence of a task distribution and the learning budget available for each individual task. Using these clusters, we then survey meta-RL algorithms and applications. We conclude by presenting the open problems on the path to making meta-RL part of the standard toolbox for a deep RL practitioner.

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms which can operate drones in complex and uncertain environments. Additionally, flying fast enables drones to cover more ground which in turn increases productivity and further strengthens their use case. One proxy for developing algorithms used in high-speed navigation is the task of autonomous drone racing, where researchers program drones to fly through a sequence of gates and avoid obstacles as quickly as possible using onboard sensors and limited computational power. Speeds and accelerations exceed over 80 kph and 4 g respectively, raising significant challenges across perception, planning, control, and state estimation. To achieve maximum performance, systems require real-time algorithms that are robust to motion blur, high dynamic range, model uncertainties, aerodynamic disturbances, and often unpredictable opponents. This survey covers the progression of autonomous drone racing across model-based and learning-based approaches. We provide an overview of the field, its evolution over the years, and conclude with the biggest challenges and open questions to be faced in the future.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.