This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.

Academic research in board game playing AI has of course moved While artificial intelligence has been applied to control players' beyond most pedestrian board games, applying a diverse set of decisions in board games for over half a century, little attention algorithms for playing card games with millions of card combinations is given to games with no player competition. Pandemic is an exemplar such as Magic: the Gathering (Wizards of the Coast, 1993) [3], collaborative board game where all players coordinate to games of tactical card placement such as Lords of War (Black Box, overcome challenges posed by events occurring during the game's 2012) [19] and Carcassonne (Hans im Glück, 2000) [9], card games progression. This paper proposes an artificial agent which controls of team-based competition such as Hanabi (Abacusspiele, 2010) [26] all players' actions and balances chances of winning versus risk or Codenames (Czech Games Edition, 2015) [22], and many more. of losing in this highly stochastic environment. The agent applies Traditional board games such as chess [15] and backgammon a Rolling Horizon Evolutionary Algorithm on an abstraction of [23], as well as recent card games such as Race for the Galaxy (Rio the game-state that lowers the branching factor and simulates the Grande, 2007) [6] or digitized board games such as Hearthstone game's stochasticity. Results show that the proposed algorithm (Blizzard, 2014) [11, 18], focus on players competing to deplete another can find winning strategies more consistently in different games player's resources (pawns, hit points) or to accumulate more of varying difficulty.

IBM has released the 2021 edition of its Women Leaders in AI, adding 40 people from 18 countries to the growing ranks of its annual program. In 2021, highlighting women leaders is more important than ever because of pandemic-driven challenges that are affecting women's role in business, IBM said. One effect that COVID-19 has had on women in the workplace is a reduction in leadership representation: Fewer women are holding senior or C-level leadership roles in 2021 than they were in 2019, IBM said. "As AI adoption continues to accelerate, we believe that diverse teams are needed to help build and implement trustworthy AI that can help mitigate bias and deliver explainable outcomes," said Ritika Gunnar, vice president, Expert Labs, IBM Cloud and Cognitive Software. The 40 women included in this year's list "were selected based upon the ways they are using AI as a transformation agent to help drive results for their organizations and the employees, customers and citizens they serve," IBM said.

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Lawrence Livermore National Laboratory (LLNL) computer scientists have developed a new framework and an accompanying visualization tool that leverages deep reinforcement learning for symbolic regression problems, outperforming baseline methods on benchmark problems. The paper was recently accepted as an oral presentation at the International Conference on Learning Representations (ICLR 2021), one of the top machine learning conferences in the world. The conference takes place virtually May 3-7. In the paper, the LLNL team describes applying deep reinforcement learning to discrete optimization--problems that deal with discrete "building blocks" that must be combined in a particular order or configuration to optimize a desired property. The team focused on a type of discrete optimization called symbolic regression--finding short mathematical expressions that fit data gathered from an experiment.

Pest and disease control plays a key role in agriculture since the damage caused by these agents are responsible for a huge economic loss every year. Based on this assumption, we create an algorithm capable of detecting rust (Hemileia vastatrix) and leaf miner (Leucoptera coffeella) in coffee leaves (Coffea arabica) and quantify disease severity using a mobile application as a high-level interface for the model inferences. We used different convolutional neural network architectures to create the object detector, besides the OpenCV library, k-means, and three treatments: the RGB and value to quantification, and the AFSoft software, in addition to the analysis of variance, where we compare the three methods. The results show an average precision of 81,5% in the detection and that there was no significant statistical difference between treatments to quantify the severity of coffee leaves, proposing a computationally less costly method. The application, together with the trained model, can detect the pest and disease over different image conditions and infection stages and also estimate the disease infection stage.

We present graph-based translation models which translate source graphs into target strings. Source graphs are constructed from dependency trees with extra links so that non-syntactic phrases are connected. Inspired by phrase-based models, we first introduce a translation model which segments a graph into a sequence of disjoint subgraphs and generates a translation by combining subgraph translations left-to-right using beam search. However, similar to phrase-based models, this model is weak at phrase reordering. Therefore, we further introduce a model based on a synchronous node replacement grammar which learns recursive translation rules. We provide two implementations of the model with different restrictions so that source graphs can be parsed efficiently. Experiments on Chinese--English and German--English show that our graph-based models are significantly better than corresponding sequence- and tree-based baselines.

Playwright and screenwriter Tom Stoppard is perhaps best known for his postmodern Shakespearanisms--Rosencrantz and Guildenstern Are Dead and Shakespeare In Love (though I'd personally argue that his greatest works were Travesties and Brazil). But a new Stoppard biography from Hermione Lee has brought some new and revitalized attention to one of Stoppard's lesser-known literary contributions:… READ THE REST

A Lawrence Livermore National Laboratory team has developed a new deep reinforcement learning framework for a type of discrete optimization called symbolic regression, showing it could outperform several common methods, including commercial software gold standards, on benchmark problems. The work is being featured at the upcoming International Conference on Learning Representations. From left: LLNL team members Brenden Petersen, Mikel Landajuela, Nathan Mudhenk, Soo Kim, Ruben Glatt and Joanne Kim. Lawrence Livermore National Laboratory (LLNL) computer scientists have developed a new framework and an accompanying visualization tool that leverages deep reinforcement learning for symbolic regression problems, outperforming baseline methods on benchmark problems. The paper was recently accepted as an oral presentation at the International Conference on Learning Representations (ICLR 2021), one of the top machine learning conferences in the world.

The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are prone to produce measurements with error. Partially observable Markov decision processes (POMDPs) are commonly employed, thanks to their capacity to model the uncertainty of actions that modify and monitor the state of a system. However, since solving a POMDP is computationally expensive, their usage becomes prohibitive for most robotic applications. In this paper, we propose a task planning architecture for service robotics. In the context of service robot design, we present a scheme to encode knowledge about the robot and its environment, that promotes the modularity and reuse of information. Also, we introduce a new recursive definition of a POMDP that enables our architecture to autonomously build a hierarchy of POMDPs, so that it can be used to generate and execute plans that solve the task at hand. Experimental results show that, in comparison to baseline methods, by following a recursive hierarchical approach the architecture is able to significantly reduce the planning time, while maintaining (or even improving) the robustness under several scenarios that vary in uncertainty and size.