The World Robotics Challenge (2018 & 2020) was designed to challenge teams to design systems that are easy to adapt to new tasks and to ensure robust operation in a semi-structured environment. We present a layered strategy to transform missions into tasks and actions and provide a set of strategies to address simple and complex failures. We propose a model for characterizing failures using this model and discuss repairs. Simple failures are by far the most common in our WRC system and we also present how we repaired them.

Adapting an interface requires taking into account both the positive and negative effects that changes may have on the user. A carelessly picked adaptation may impose high costs to the user -- for example, due to surprise or relearning effort -- or "trap" the process to a suboptimal design immaturely. However, effects on users are hard to predict as they depend on factors that are latent and evolve over the course of interaction. We propose a novel approach for adaptive user interfaces that yields a conservative adaptation policy: It finds beneficial changes when there are such and avoids changes when there are none. Our model-based reinforcement learning method plans sequences of adaptations and consults predictive HCI models to estimate their effects. We present empirical and simulation results from the case of adaptive menus, showing that the method outperforms both a non-adaptive and a frequency-based policy.

This is a ranking of the best Artificial Intelligence journals in the United States. Where do advances in research of Artificial Intelligence and Machine Learning get published? These are the repositories of AI advancements and a window into the current state-of-the-art, and in large part its knowledge base. Papers in AI journals get cited by other AI researchers and publications. And so the new findings and new research is shared and built upon, which contributes to the pace of AI advancements.

There hardly exists a general solver that is efficient for scheduling problems due to their diversity and complexity. In this study, we develop a two-stage framework, in which reinforcement learning (RL) and traditional operations research (OR) algorithms are combined together to efficiently deal with complex scheduling problems. The scheduling problem is solved in two stages, including a finite Markov decision process (MDP) and a mixed-integer programming process, respectively. This offers a novel and general paradigm that combines RL with OR approaches to solving scheduling problems, which leverages the respective strengths of RL and OR: The MDP narrows down the search space of the original problem through an RL method, while the mixed-integer programming process is settled by an OR algorithm. These two stages are performed iteratively and interactively until the termination criterion has been met. Under this idea, two implementation versions of the combination methods of RL and OR are put forward. The agile Earth observation satellite scheduling problem is selected as an example to demonstrate the effectiveness of the proposed scheduling framework and methods. The convergence and generalization capability of the methods are verified by the performance of training scenarios, while the efficiency and accuracy are tested in 50 untrained scenarios. The results show that the proposed algorithms could stably and efficiently obtain satisfactory scheduling schemes for agile Earth observation satellite scheduling problems. In addition, it can be found that RL-based optimization algorithms have stronger scalability than non-learning algorithms. This work reveals the advantage of combining reinforcement learning methods with heuristic methods or mathematical programming methods for solving complex combinatorial optimization problems.

In this short paper, we outline nine classical benchmarks submitted to the first hierarchical planning track of the International Planning competition in 2020. All of these benchmarks are based on the HDDL language. The choice of the benchmarks was based on a questionnaire sent to the HTN community. They are the following: Barman, Childsnack, Rover, Satellite, Blocksworld, Depots, Gripper, and Hiking. In the rest of the paper we give a short description of these benchmarks. All are totally ordered.

Monte Carlo Tree Search (MCTS) is a decision-making algorithm that consists in searching large combinatorial spaces represented by trees. In such trees, nodes denote states, also referred to as configurations of the problem, whereas edges denote transitions (actions) from one state to another. MCTS has been originally proposed in the work by Kocsis and Szepesvári (2006) and by Coulom (2006), as an algorithm for making computer players in Go. It was quickly called a major breakthrough (Gelly et al., 2012) as it allowed for a leap from 14 kyu, which is an average amateur level, to 5 dan, which is considered an advanced level but not professional yet. Before MCTS, bots for combinatorial games had been using various modifications of the min-max alpha-beta pruning algorithm (Junghanns, 1998) such as MTD(f) (Plaat, 2014) and hand-crafted heuristics. In contrast to them, MCTS algorithm is at its core aheuristic, which means that no additional knowledge is required other than just rules of a game (or a problem, generally speaking). However, it is possible to take advantage of heuristics and include them in the MCTS approach to make it more efficient and improve its convergence. Moreover, the given problem often tends to be so complex, from the combinatorial point of view, that some form of external help, e.g.

In domains such as electric vehicle charging, smart distribution grids and autonomous warehouses, multiple agents share the same resources. When planning the use of these resources, agents need to deal with the uncertainty in these domains. Although several models and algorithms for such constrained multiagent planning problems under uncertainty have been proposed in the literature, it remains unclear when which algorithm can be applied. In this survey we conceptualize these domains and establish a generic problem class based on Markov decision processes. We identify and compare the conditions under which algorithms from the planning literature for problems in this class can be applied: whether constraints are soft or hard, whether agents are continuously connected, whether the domain is fully observable, whether a constraint is momentarily (instantaneous) or on a budget, and whether the constraint is on a single resource or on multiple. Further we discuss the advantages and disadvantages of these algorithms. We conclude by identifying open problems that are directly related to the conceptualized domains, as well as in adjacent research areas.

Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected graphs where robots move between vertices across edges. Contemporary optimal solving algorithms include dedicated search-based methods, that solve the problem directly, and compilation-based algorithms that reduce MRPP to a different formalism for which an efficient solver exists, such as constraint programming (CP), mixed integer programming (MIP), or Boolean satisfiability (SAT). In this paper, we enhance existing SAT-based algorithm for MRPP via spar-tification of the set of candidate paths for each robot from which target Boolean encoding is derived. Suggested sparsification of the set of paths led to smaller target Boolean formulae that can be constructed and solved faster while optimality guarantees of the approach have been kept.

Stanford publishes its AI Index Report that focuses on the developments of the complex artificial intelligence landscape since 2017. The latest report -- 2021 -- shed some light on the impact of COVID-19 in AI research, countries leading the race in research, and more. In a total of 7 chapters, the Stanford AI Index Report also covers aspects like AI education, research and development, diversity in AI, and AI policy. One of the most surprising revelations, for many, is that China overtakes the US in terms of journal citation, pinpointing the advancement in their research. This comes after China surpassed the US in the terms of the number of artificial intelligence research publications in 2017 after briefly overtaking in 2004.

That's a higher percentage growth than 2018 to 2019 when the volume of publications increased by 19.6 percent. China continues to be a growing force in AI R&D, overtaking the US for overall journal citations in artificial intelligence research last year. The country already publishes more AI papers than any other country, but the United States still has more cited papers at AI conferences -- one indicator of the novelty and significance of the underlying research. These figures come from the fourth annual AI Index, a collection of statistics, benchmarks, and milestones meant to gauge global progress in artificial intelligence. The report is collated with the help of Stanford University, and you can read all 222 pages here.