In fog computing systems, one key challenge is online task scheduling, i.e., to decide the resource allocation for tasks that are continuously generated from end devices. The design is challenging because of various uncertainties manifested in fog computing systems; e.g., tasks' resource demands remain unknown before their actual arrivals. Recent works have applied deep reinforcement learning (DRL) techniques to conduct online task scheduling and improve various objectives. However, they overlook the multi-resource fairness for different tasks, which is key to achieving fair resource sharing among tasks but in general non-trivial to achieve. Thusly, it is still an open problem to design an online task scheduling scheme with multi-resource fairness. In this paper, we address the above challenges. Particularly, by leveraging DRL techniques and adopting the idea of dominant resource fairness (DRF), we propose FairTS, an online task scheduling scheme that learns directly from experience to effectively shorten average task slowdown while ensuring multi-resource fairness among tasks. Simulation results show that FairTS outperforms state-of-the-art schemes with an ultra-low task slowdown and better resource fairness.

In this paper we introduce Q-Rock, a development cycle for the automated self-exploration and qualification of robotic behaviors. With Q-Rock, we suggest a novel, integrative approach to automate robot development processes. Q-Rock combines several machine learning and reasoning techniques to deal with the increasing complexity in the design of robotic systems. The Q-Rock development cycle consists of three complementary processes: (1) automated exploration of capabilities that a given robotic hardware provides, (2) classification and semantic annotation of these capabilities to generate more complex behaviors, and (3) mapping between application requirements and available behaviors. These processes are based on a graph-based representation of a robot's structure, including hardware and software components. A graph-database serves as central, scalable knowledge base to enable collaboration with robot designers including mechanical and electrical engineers, software developers and machine learning experts. In this paper we formalize Q-Rock's integrative development cycle and highlight its benefits with a proof-of-concept implementation and a use case demonstration.

Cloud computing (CC) is a centralized computing paradigm that accumulates resources centrally and provides these resources to users through Internet. Although CC holds a large number of resources, it may not be acceptable by real-time mobile applications, as it is usually far away from users geographically. On the other hand, edge computing (EC), which distributes resources to the network edge, enjoys increasing popularity in the applications with low-latency and high-reliability requirements. EC provides resources in a decentralized manner, which can respond to users' requirements faster than the normal CC, but with limited computing capacities. As both CC and EC are resource-sensitive, several big issues arise, such as how to conduct job scheduling, resource allocation, and task offloading, which significantly influence the performance of the whole system. To tackle these issues, many optimization problems have been formulated. These optimization problems usually have complex properties, such as non-convexity and NP-hardness, which may not be addressed by the traditional convex optimization-based solutions. Computational intelligence (CI), consisting of a set of nature-inspired computational approaches, recently exhibits great potential in addressing these optimization problems in CC and EC. This paper provides an overview of research problems in CC and EC and recent progresses in addressing them with the help of CI techniques. Informative discussions and future research trends are also presented, with the aim of offering insights to the readers and motivating new research directions.

People often plan hierarchically. That is, rather than planning over a monolithic representation of a task, they decompose the task into simpler subtasks and then plan to accomplish those. Although much work explores how people decompose tasks, there is less analysis of why people decompose tasks in the way they do. Here, we address this question by formalizing task decomposition as a resource-rational representation problem. Specifically, we propose that people decompose tasks in a manner that facilitates efficient use of limited cognitive resources given the structure of the environment and their own planning algorithms. Using this model, we replicate several existing findings. Our account provides a normative explanation for how people identify subtasks as well as a framework for studying how people reason, plan, and act using resource-rational representations.

Meta-planning, or learning to guide planning from experience, is a promising approach to improving the computational cost of planning. A general meta-planning strategy is to learn to impose constraints on the states considered and actions taken by the agent. We observe that (1) imposing a constraint can induce context-specific independences that render some aspects of the domain irrelevant, and (2) an agent can take advantage of this fact by imposing constraints on its own behavior. These observations lead us to propose the context-specific abstract Markov decision process (CAMP), an abstraction of a factored MDP that affords efficient planning. We then describe how to learn constraints to impose so the CAMP optimizes a trade-off between rewards and computational cost. Our experiments consider five planners across four domains, including robotic navigation among movable obstacles (NAMO), robotic task and motion planning for sequential manipulation, and classical planning. We find planning with learned CAMPs to consistently outperform baselines, including Stilman's NAMO-specific algorithm. Video: https://youtu.be/wTXt6djcAd4

The combination of Monte-Carlo tree search (MCTS) with deep reinforcement learning has led to significant advances in artificial intelligence. However, AlphaZero, the current state-of-the-art MCTS algorithm, still relies on handcrafted heuristics that are only partially understood. In this paper, we show that AlphaZero's search heuristics, along with other common ones such as UCT, are an approximation to the solution of a specific regularized policy optimization problem. With this insight, we propose a variant of AlphaZero which uses the exact solution to this policy optimization problem, and show experimentally that it reliably outperforms the original algorithm in multiple domains.

Attainia, Inc., the market leader in cloud-based software for medical equipment planning, announced the integration of its flagship planning software with Accruent Data Insights, a powerful analytics solution that aggregates asset ownership data for thousands of equipment models. This new feature available now will allow healthcare organizations working in Attainia's PLAN-IT suite of products to optimize their purchasing decisions and control capital asset costs by viewing reliability and total cost of ownership (TCO) data during the equipment planning process. "The integration of Accruent's Data Insights module into Attainia's Plan-IT suite delivers powerful capabilities to reimagine how projects are planned and equipment is specified," said DJ Chhabra, CEO and chairman of Attainia. "The ability to gain insights into the life expectancy and TCO of equipment during the planning process, and the ability to plan for a replacement well before it's needed, allows healthcare organizations to be proactive -- which becomes paramount to improving patient satisfaction, protecting a hospital's revenue stream and delivering overall efficiencies in the management of capital equipment." Most hospitals have a mandate to drive cost reduction, but the lack of actionable data and resource constraints makes this an extremely complex challenge.

The unprecedented progress in Artificial Intelligence (AI) [1-6], over the last decade, came alongside of multiple AI failures [7, 8] and cases of dual use [9] causing a realization [10] that it is not sufficient to create highly capable machines, but that it is even more important to make sure that intelligent machines are beneficial [11] for the humanity. This lead to the birth of the new subfield of research commonly known as AI Safety and Security [12] with hundreds of papers and books published annually on different aspects of the problem [13-31]. All such research is done under the assumption that the problem of controlling highly capable intelligent machines is solvable, which has not been established by any rigorous means. However, it is a standard practice in computer science to first show that a problem doesn't belong to a class of unsolvable problems [32, 33] before investing resources into trying to solve it or deciding what approaches to try. Unfortunately, to the best of our knowledge no mathematical proof or even rigorous argumentation has been published demonstrating that the AI control problem may be solvable, even in principle, much less in practice. Or as Gans puts it citing Bostrom: "Thusfar, AI researchers and philosophers have not been able to come up with methods of control that would ensure [bad] outcomes did not take place …" [34].

The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done from an observer perspective of a finite set of object relations and orientations that only satisfy geometrical constraints to execute experiments in laboratory conditions. This restricts the possible changes with manipulation actions in the object configuration space to those compatible with that particular external reference definitions, which greatly limits the spectrum of possible manipulations. To tackle these limitations we propose an object-centered representation that permits characterizing a much wider set of possible changes in configuration spaces than the traditional observer perspective counterpart. Based on this representation, we define universal planning operators for picking and placing actions that permits generating plans with geometric and force consistency in manipulation tasks. This object-centered description is directly obtained from the poses and bounding boxes of objects using a novel learning mechanisms that permits generating signal-symbols relations without the need of handcrafting these relations for each particular scenario.

We aim to enable an autonomous robot to learn new skills from demo videos and use these newly learned skills to accomplish non-trivial high-level tasks. The goal of developing such autonomous robot involves knowledge representation, specification mining, and automated task planning. For knowledge representation, we use a graph-based spatial temporal logic (GSTL) to capture spatial and temporal information of related skills demonstrated by demo videos. We design a specification mining algorithm to generate a set of parametric GSTL formulas from demo videos by inductively constructing spatial terms and temporal formulas. The resulting parametric GSTL formulas from specification mining serve as a domain theory, which is used in automated task planning for autonomous robots. We propose an automatic task planning based on GSTL where a proposer is used to generate ordered actions, and a verifier is used to generate executable task plans. A table setting example is used throughout the paper to illustrate the main ideas.