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Register a new userRegression Planning Networks
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Danfei Xu
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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Recent learning-to-plan methods have shown promising results on planning directly from observation space. Yet, their ability to plan for long-horizon tasks is limited by the accuracy of the prediction model. On the other hand, classical symbolic planners show remarkable capabilities in solving long-horizon tasks, but they require predefined symbolic rules and symbolic states, restricting their real-world applicability. In this work, we combine the benefits of these two paradigms and propose a learning-to-plan method that can directly generate a long-term symbolic plan conditioned on high-dimensional observations. We borrow the idea of regression (backward) planning from classical planning literature and introduce Regression Planning Networks (RPN), a neural network architecture that plans backward starting at a task goal and generates a sequence of intermediate goals that reaches the current observation. We show that our model not only inherits many favorable traits from symbolic planning, e.g., the ability to solve previously unseen tasks but also can learn from visual inputs in an end-to-end manner. We evaluate the capabilities of RPN in a grid world environment and a simulated 3D kitchen environment featuring complex visual scenes and long task horizons, and show that it achieves near-optimal performance in completely new task instances.
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We demonstrate that challenging shortest path problems can be solved via direct spline regression from a neural network, trained in an unsupervised manner (i.e. without requiring ground truth optimal paths for training). To achieve this, we derive a geometry-dependent optimal cost function whose minima guarantees collision-free solutions. Our method beats state-of-the-art supervised learning baselines for shortest path planning, with a much more scalable training pipeline, and a significant speedup in inference time.
While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where aspects of the environment needed to compute progress are not directly accessible. To enable robots to autonomously learn skills, we instead consider the problem of reinforcement learning without access to rewards. We aim to learn an unsupervised embedding space under which the robot can measure progress towards a goal for itself. Our approach explicitly optimizes for a metric space under which action sequences that reach a particular state are optimal when the goal is the final state reached. This enables learning effective and control-centric representations that lead to more autonomous reinforcement learning algorithms. Our experiments on three simulated environments and two real-world manipulation problems show that our method can learn effective goal metrics from unlabeled interaction, and use the learned goal metrics for autonomous reinforcement learning.
Bayesian networks provide a probabilistic semantics for qualitative assertions about likelihood. A qualitative reasoner based on an algebra over these assertions can derive further conclusions about the influence of actions. While the conclusions are much weaker than those computed from complete probability distributions, they are still valuable for suggesting potential actions, eliminating obviously inferior plans, identifying important tradeoffs, and explaining probabilistic models.
Travel time estimation is a crucial task for not only personal travel scheduling but also city planning. Previous methods focus on modeling toward road segments or sub-paths, then summing up for a final prediction, which have been recently replaced by deep neural models with end-to-end training. Usually, these methods are based on explicit feature representations, including spatio-temporal features, traffic states, etc. Here, we argue that the local traffic condition is closely tied up with the land-use and built environment, i.e., metro stations, arterial roads, intersections, commercial area, residential area, and etc, yet the relation is time-varying and too complicated to model explicitly and efficiently. Thus, this paper proposes an end-to-end multi-task deep neural model, named Deep Image to Time (DeepI2T), to learn the travel time mainly from the built environment images, a.k.a. the morphological layout images, and showoff the new state-of-the-art performance on real-world datasets in two cities. Moreover, our model is designed to tackle both path-aware and path-blind scenarios in the testing phase. This work opens up new opportunities of using the publicly available morphological layout images as considerable information in multiple geography-related smart city applications.
This article is about the cognitive science of visual art. Artists create physical artifacts (such as sculptures or paintings) which depict people, objects, and events. These depictions are usually stylized rather than photo-realistic. How is it that humans are able to understand and create stylized representations? Does this ability depend on general cognitive capacities or an evolutionary adaptation for art? What role is played by learning and culture? Machine Learning can shed light on these questions. Its possible to train convolutional neural networks (CNNs) to recognize objects without training them on any visual art. If such CNNs can generalize to visual art (by creating and understanding stylized representations), then CNNs provide a model for how humans could understand art without innate adaptations or cultural learning. I argue that Deep Dream and Style Transfer show that CNNs can create a basic form of visual art, and that humans could create art by similar processes. This suggests that artists make art by optimizing for effects on the human object-recognition system. Physical artifacts are optimized to evoke real-world objects for this system (e.g. to evoke people or landscapes) and to serve as superstimuli for this system.
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