We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the objects in its environment. It then uses this information to learn a mapping between its own actions and those performed by a human in a shared environment. It finally fuses the information from these two models to interpret and describe human actions in light of its own experience. In our experiments, we show that the model can be used flexibly to do inference on different aspects of the scene. We can predict the effects of an action on the basis of object properties. We can revise the belief that a certain action occurred, given the observed effects of the human action. In an early action recognition fashion, we can anticipate the effects when the action has only been partially observed. By estimating the probability of words given the evidence and feeding them into a pre-defined grammar, we can generate relevant descriptions of the scene. We believe that this is a step towards providing robots with the fundamental skills to engage in social collaboration with humans.

Recent advances in deep reinforcement learning in the paradigm of locomotion using continuous control have raised the interest of game makers for the potential of digital actors using active ragdoll. Currently, the available options to develop these ideas are either researchers' limited codebase or proprietary closed systems. We present Marathon Environments, a suite of open source, continuous control benchmarks implemented on the Unity game engine, using the Unity ML- Agents Toolkit. We demonstrate through these benchmarks that continuous control research is transferable to a commercial game engine. Furthermore, we exhibit the robustness of these environments by reproducing advanced continuous control research, such as learning to walk, run and backflip from motion capture data; learning to navigate complex terrains; and by implementing a video game input control system. We show further robustness by training with alternative algorithms found in OpenAI.Baselines. Finally, we share strategies for significantly reducing the training time.

Effective network slicing requires an infrastructure/network provider to deal with the uncertain demand and real-time dynamics of network resource requests. Another challenge is the combinatorial optimization of numerous resources, e.g., radio, computing, and storage. This article develops an optimal and fast real-time resource slicing framework that maximizes the long-term return of the network provider while taking into account the uncertainty of resource demand from tenants. Specifically, we first propose a novel system model which enables the network provider to effectively slice various types of resources to different classes of users under separate virtual slices. We then capture the real-time arrival of slice requests by a semi-Markov decision process. To obtain the optimal resource allocation policy under the dynamics of slicing requests, e.g., uncertain service time and resource demands, a Q-learning algorithm is often adopted in the literature. However, such an algorithm is notorious for its slow convergence, especially for problems with large state/action spaces. This makes Q-learning practically inapplicable to our case in which multiple resources are simultaneously optimized. To tackle it, we propose a novel network slicing approach with an advanced deep learning architecture, called deep dueling that attains the optimal average reward much faster than the conventional Q-learning algorithm. This property is especially desirable to cope with real-time resource requests and the dynamic demands of users. Extensive simulations show that the proposed framework yields up to 40% higher long-term average return while being few thousand times faster, compared with state of the art network slicing approaches.

In this paper, we propose a novel pretraining-based encoder-decoder framework, which can generate the output sequence based on the input sequence in a two-stage manner. For the encoder of our model, we encode the input sequence into context representations using BERT. For the decoder, there are two stages in our model, in the first stage, we use a Transformer-based decoder to generate a draft output sequence. In the second stage, we mask each word of the draft sequence and feed it to BERT, then by combining the input sequence and the draft representation generated by BERT, we use a Transformer-based decoder to predict the refined word for each masked position. To the best of our knowledge, our approach is the first method which applies the BERT into text generation tasks. As the first step in this direction, we evaluate our proposed method on the text summarization task. Experimental results show that our model achieves new state-of-the-art on both CNN/Daily Mail and New York Times datasets.

Of primary importance in formulating a response to the increasing prevalence and power of artificial intelligence (AI) applications in society are questions of ontology. Questions such as: What "are" these systems? How are they to be regarded? How does an algorithm come to be regarded as an agent? We discuss three factors which hinder discussion and obscure attempts to form a clear ontology of AI: (1) the various and evolving definitions of AI, (2) the tendency for pre-existing technologies to be assimilated and regarded as "normal," and (3) the tendency of human beings to anthropomorphize. This list is not intended as exhaustive, nor is it seen to preclude entirely a clear ontology, however, these challenges are a necessary set of topics for consideration. Each of these factors is seen to present a 'moving target' for discussion, which poses a challenge for both technical specialists and non-practitioners of AI systems development (e.g., philosophers and theologians) to speak meaningfully given that the corpus of AI structures and capabilities evolves at a rapid pace. Finally, we present avenues for moving forward, including opportunities for collaborative synthesis for scholars in philosophy and science.

We present batch virtual adversarial training (BVAT), a novel regularization method for graph convolutional networks (GCNs). BVAT addresses the shortcoming of GCNs that do not consider the smoothness of the model's output distribution against local perturbations around the input. We propose two algorithms, sample-based BVAT and optimization-based BVAT, which are suitable to promote the smoothness of the model for graph-structured data by either finding virtual adversarial perturbations for a subset of nodes far from each other or generating virtual adversarial perturbations for all nodes with an optimization process. Extensive experiments on three citation network datasets Cora, Citeseer and Pubmed and a knowledge graph dataset Nell validate the effectiveness of the proposed method, which establishes state-of-the-art results in the semi-supervised node classification tasks.

We study strategic similarity of game positions in Contribution We study similarity of game positions in two-player extensive games of perfect information, two-player, deterministic games of perfect information, by by looking at the structure of their local game trees, looking at the structure of their local game trees, working with the aim of improving the performance of game with the set of possible moves from each position. We introduce playing agents in detecting forcing continuations.

Reward functions are often misspecified. An agent optimizing an incorrect reward function can change its environment in large, undesirable, and potentially irreversible ways. Work on impact measurement seeks a means of identifying (and thereby avoiding) large changes to the environment. We propose a novel impact measure which induces conservative, effective behavior across a range of situations. The approach attempts to preserve the attainable utility of auxiliary objectives. We evaluate our proposal on an array of benchmark tasks and show that it matches or outperforms relative reachability, the state-of-the-art in impact measurement.

It is crucial to generate crafted SAT formulas with predefined solutions for the testing and development of SAT solvers since many SAT formulas from real-world applications have solutions. Although some generating algorithms have been proposed to generate SAT formulas with predefined solutions, community structures of SAT formulas are not considered. We propose a 3-SAT formula generating algorithm that not only guarantees the existence of a predefined solution, but also simultaneously considers community structures and clause distributions. The proposed 3-SAT formula generating algorithm controls the quality of community structures through controlling (1) the number of clauses whose variables have a common community, which we call intra-community clauses, and (2) the number of variables that only belong to one community, which we call intra-community variables. To study the combined effect of community structures and clause distributions on the hardness of SAT formulas, we measure solving runtimes of two solvers, gluHack (a leading CDCL solver) and CPSparrow (a leading SLS solver), on the generated SAT formulas under different groups of parameter settings. Through extensive experiments, we obtain some noteworthy observations on the SAT formulas generated by the proposed algorithm: (1) The community structure has little or no effects on the hardness of SAT formulas with regard to CPSparrow but a strong effect with regard to gluHack. (2) Only when the proportion of true literals in a SAT formula in terms of the predefined solution is 0.5, SAT formulas are hard-to-solve with regard to gluHack; when this proportion is below 0.5, SAT formulas are hard-to-solve with regard to CPSparrow. (3) When the ratio of the number of clauses to that of variables is around 4.25, the SAT formulas are hard-to-solve with regard to both gluHack and CPSparrow.

Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air Vehicles (FWMAVs) hold great promise for closing this performance gap. However, design and control of such systems remain challenging due to various constraints. Here, we present an open source high fidelity dynamic simulation for FWMAVs to serve as a testbed for the design, optimization and flight control of FWMAVs. For simulation validation, we recreated the hummingbird-scale robot developed in our lab in the simulation. System identification was performed to obtain the model parameters. The force generation, open-loop and closed-loop dynamic response between simulated and experimental flights were compared and validated. The unsteady aerodynamics and the highly nonlinear flight dynamics present challenging control problems for conventional and learning control algorithms such as Reinforcement Learning. The interface of the simulation is fully compatible with OpenAI Gym environment. As a benchmark study, we present a linear controller for hovering stabilization and a Deep Reinforcement Learning control policy for goal-directed maneuvering. Finally, we demonstrate direct simulation-to-real transfer of both control policies onto the physical robot, further demonstrating the fidelity of the simulation.