scholarly journals On Safety and Time Efficiency Enhancement of Robot Navigation in Crowded Environment utilizing Deep Reinforcement Learning

Author(s):  
Sunil Srivatsav Samsani

<div>The evolution of social robots has increased with the advent of recent artificial intelligence techniques. Alongside humans, social robots play active roles in various household and industrial applications. However, the safety of humans becomes a significant concern when robots navigate in a complex and crowded environment. In literature, the safety of humans in relation to social robots has been addressed by various methods; however, most of these methods compromise the time efficiency of the robot. For robots, safety and time-efficiency are two contrast elements where one dominates the other. To strike a balance between them, a multi-reward formulation in the reinforcement learning framework is proposed, which improves the safety together with time-efficiency of the robot. The multi-reward formulation includes both positive and negative rewards that encourage and punish the robot, respectively. The proposed reward formulation is tested on state-of-the-art methods of multi-agent navigation. In addition, an ablation study is performed to evaluate the importance of individual rewards. Experimental results signify that the proposed approach balances the safety and the time-efficiency of the robot while navigating in a crowded environment.</div>

2021 ◽  
Author(s):  
Sunil Srivatsav Samsani

<div>The evolution of social robots has increased with the advent of recent artificial intelligence techniques. Alongside humans, social robots play active roles in various household and industrial applications. However, the safety of humans becomes a significant concern when robots navigate in a complex and crowded environment. In literature, the safety of humans in relation to social robots has been addressed by various methods; however, most of these methods compromise the time efficiency of the robot. For robots, safety and time-efficiency are two contrast elements where one dominates the other. To strike a balance between them, a multi-reward formulation in the reinforcement learning framework is proposed, which improves the safety together with time-efficiency of the robot. The multi-reward formulation includes both positive and negative rewards that encourage and punish the robot, respectively. The proposed reward formulation is tested on state-of-the-art methods of multi-agent navigation. In addition, an ablation study is performed to evaluate the importance of individual rewards. Experimental results signify that the proposed approach balances the safety and the time-efficiency of the robot while navigating in a crowded environment.</div>


2020 ◽  
Vol 41 (Supplement_2) ◽  
Author(s):  
S Rao ◽  
Y Li ◽  
R Ramakrishnan ◽  
A Hassaine ◽  
D Canoy ◽  
...  

Abstract Background/Introduction Predicting incident heart failure has been challenging. Deep learning models when applied to rich electronic health records (EHR) offer some theoretical advantages. However, empirical evidence for their superior performance is limited and they remain commonly uninterpretable, hampering their wider use in medical practice. Purpose We developed a deep learning framework for more accurate and yet interpretable prediction of incident heart failure. Methods We used longitudinally linked EHR from practices across England, involving 100,071 patients, 13% of whom had been diagnosed with incident heart failure during follow-up. We investigated the predictive performance of a novel transformer deep learning model, “Transformer for Heart Failure” (BEHRT-HF), and validated it using both an external held-out dataset and an internal five-fold cross-validation mechanism using area under receiver operating characteristic (AUROC) and area under the precision recall curve (AUPRC). Predictor groups included all outpatient and inpatient diagnoses within their temporal context, medications, age, and calendar year for each encounter. By treating diagnoses as anchors, we alternatively removed different modalities (ablation study) to understand the importance of individual modalities to the performance of incident heart failure prediction. Using perturbation-based techniques, we investigated the importance of associations between selected predictors and heart failure to improve model interpretability. Results BEHRT-HF achieved high accuracy with AUROC 0.932 and AUPRC 0.695 for external validation, and AUROC 0.933 (95% CI: 0.928, 0.938) and AUPRC 0.700 (95% CI: 0.682, 0.718) for internal validation. Compared to the state-of-the-art recurrent deep learning model, RETAIN-EX, BEHRT-HF outperformed it by 0.079 and 0.030 in terms of AUPRC and AUROC. Ablation study showed that medications were strong predictors, and calendar year was more important than age. Utilising perturbation, we identified and ranked the intensity of associations between diagnoses and heart failure. For instance, the method showed that established risk factors including myocardial infarction, atrial fibrillation and flutter, and hypertension all strongly associated with the heart failure prediction. Additionally, when population was stratified into different age groups, incident occurrence of a given disease had generally a higher contribution to heart failure prediction in younger ages than when diagnosed later in life. Conclusions Our state-of-the-art deep learning framework outperforms the predictive performance of existing models whilst enabling a data-driven way of exploring the relative contribution of a range of risk factors in the context of other temporal information. Funding Acknowledgement Type of funding source: Private grant(s) and/or Sponsorship. Main funding source(s): National Institute for Health Research, Oxford Martin School, Oxford Biomedical Research Centre


2020 ◽  
Vol 34 (05) ◽  
pp. 7253-7260 ◽  
Author(s):  
Yuhang Song ◽  
Andrzej Wojcicki ◽  
Thomas Lukasiewicz ◽  
Jianyi Wang ◽  
Abi Aryan ◽  
...  

Learning agents that are not only capable of taking tests, but also innovating is becoming a hot topic in AI. One of the most promising paths towards this vision is multi-agent learning, where agents act as the environment for each other, and improving each agent means proposing new problems for others. However, existing evaluation platforms are either not compatible with multi-agent settings, or limited to a specific game. That is, there is not yet a general evaluation platform for research on multi-agent intelligence. To this end, we introduce Arena, a general evaluation platform for multi-agent intelligence with 35 games of diverse logics and representations. Furthermore, multi-agent intelligence is still at the stage where many problems remain unexplored. Therefore, we provide a building toolkit for researchers to easily invent and build novel multi-agent problems from the provided game set based on a GUI-configurable social tree and five basic multi-agent reward schemes. Finally, we provide Python implementations of five state-of-the-art deep multi-agent reinforcement learning baselines. Along with the baseline implementations, we release a set of 100 best agents/teams that we can train with different training schemes for each game, as the base for evaluating agents with population performance. As such, the research community can perform comparisons under a stable and uniform standard. All the implementations and accompanied tutorials have been open-sourced for the community at https://sites.google.com/view/arena-unity/.


2020 ◽  
Vol 34 (05) ◽  
pp. 7969-7976
Author(s):  
Junjie Hu ◽  
Yu Cheng ◽  
Zhe Gan ◽  
Jingjing Liu ◽  
Jianfeng Gao ◽  
...  

Previous storytelling approaches mostly focused on optimizing traditional metrics such as BLEU, ROUGE and CIDEr. In this paper, we re-examine this problem from a different angle, by looking deep into what defines a natural and topically-coherent story. To this end, we propose three assessment criteria: relevance, coherence and expressiveness, which we observe through empirical analysis could constitute a “high-quality” story to the human eye. We further propose a reinforcement learning framework, ReCo-RL, with reward functions designed to capture the essence of these quality criteria. Experiments on the Visual Storytelling Dataset (VIST) with both automatic and human evaluation demonstrate that our ReCo-RL model achieves better performance than state-of-the-art baselines on both traditional metrics and the proposed new criteria.


Entropy ◽  
2021 ◽  
Vol 23 (9) ◽  
pp. 1133
Author(s):  
Shanzhi Gu ◽  
Mingyang Geng ◽  
Long Lan

The aim of multi-agent reinforcement learning systems is to provide interacting agents with the ability to collaboratively learn and adapt to the behavior of other agents. Typically, an agent receives its private observations providing a partial view of the true state of the environment. However, in realistic settings, the harsh environment might cause one or more agents to show arbitrarily faulty or malicious behavior, which may suffice to allow the current coordination mechanisms fail. In this paper, we study a practical scenario of multi-agent reinforcement learning systems considering the security issues in the presence of agents with arbitrarily faulty or malicious behavior. The previous state-of-the-art work that coped with extremely noisy environments was designed on the basis that the noise intensity in the environment was known in advance. However, when the noise intensity changes, the existing method has to adjust the configuration of the model to learn in new environments, which limits the practical applications. To overcome these difficulties, we present an Attention-based Fault-Tolerant (FT-Attn) model, which can select not only correct, but also relevant information for each agent at every time step in noisy environments. The multihead attention mechanism enables the agents to learn effective communication policies through experience concurrent with the action policies. Empirical results showed that FT-Attn beats previous state-of-the-art methods in some extremely noisy environments in both cooperative and competitive scenarios, much closer to the upper-bound performance. Furthermore, FT-Attn maintains a more general fault tolerance ability and does not rely on the prior knowledge about the noise intensity of the environment.


2021 ◽  
pp. 100162
Author(s):  
Guanghui Wen ◽  
Junjie Fu ◽  
Pengcheng Dai ◽  
Jialing Zhou

Author(s):  
Victor Gallego ◽  
Roi Naveiro ◽  
David Rios Insua

In several reinforcement learning (RL) scenarios, mainly in security settings, there may be adversaries trying to interfere with the reward generating process. However, when non-stationary environments as such are considered, Q-learning leads to suboptimal results (Busoniu, Babuska, and De Schutter 2010). Previous game-theoretical approaches to this problem have focused on modeling the whole multi-agent system as a game. Instead, we shall face the problem of prescribing decisions to a single agent (the supported decision maker, DM) against a potential threat model (the adversary). We augment the MDP to account for this threat, introducing Threatened Markov Decision Processes (TMDPs). Furthermore, we propose a level-k thinking scheme resulting in a new learning framework to deal with TMDPs. We empirically test our framework, showing the benefits of opponent modeling.


Sign in / Sign up

Export Citation Format

Share Document