A new generation of sensor-rich, massively distributed, autonomous systems are being developed that have the potential for profound social, environmental, and economic change. These systems include networked building energy systems, autonomous space probes, chemical plant control systems, satellite constellations for remote ecosystem monitoring, power grids, biospherelike life-support systems, and reconfigurable traffic systems, to highlight but a few. To achieve high performance, these immobile robots (or immobots) will need to develop sophisticated regulatory and immune systems that accurately and robustly control their complex internal functions. Thus, immobots will exploit a vast nervous system of sensors to model themselves and their environment on a grand scale. They will use these models to dramatically reconfigure themselves to survive decades of autonomous operation. Achieving these large-scale modeling and configuration tasks will require a tight coupling between the higher-level coordination function provided by symbolic reasoning and the lower-level autonomic processes of adaptive estimation and control. To be economically viable, they will need to be programmable purely through high-level compositional models. Self-modeling and self-configuration, autonomic functions coordinated through symbolic reasoning, and compositional, model-based programming are the three key elements of a model-based autonomous system architecture that is taking us into the new millennium.

Giving robots the ability to operate in the real world has been, and continues to be, one of the most difficult tasks in AI research. Since 1987, researchers at Carnegie Mellon University have been investigating one such task. Their research has been focused on using adaptive, vision-based systems to increase the driving performance of the Navlab line of on-road mobile robots. This research has led to the development of a neural network system that can learn to drive on many road types simply by watching a human teacher. This article describes the evolution of this system from a research project in machine learning to a robust driving system capable of executing tactical driving maneuvers such as lane changing and intersection navigation.

The construction of computer systems that are intelligent, collaborative problem-solving partners is an important goal for both the science of AI and its application. From the scientific perspective, the development of theories and mechanisms to enable building collaborative systems presents exciting research challenges across AI subfields. From the applications perspective, the capability to collaborate with users and other systems is essential if large-scale information systems of the future are to assist users in finding the information they need and solving the problems they have. In this address, it is argued that collaboration must be designed into systems from the start; it cannot be patched on. Key features of collaborative activity are described, the scientific base provided by recent AI research is discussed, and several of the research challenges posed by collaboration are presented. It is further argued that research on, and the development of, collaborative systems should itself be a collaborative endeavor -- within AI, across subfields of computer science, and with researchers in other fields.

Speedup learning seeks to improve the computational efficiency of problem solving with experience. In this paper, we develop a formal framework for learning efficient problem solving from random problems and their solutions. We apply this framework to two different representations of learned knowledge, namely control rules and macro-operators, and prove theorems that identify sufficient conditions for learning in each representation. Our proofs are constructive in that they are accompanied with learning algorithms. Our framework captures both empirical and explanation-based speedup learning in a unified fashion. We illustrate our framework with implementations in two domains: symbolic integration and Eight Puzzle. This work integrates many strands of experimental and theoretical work in machine learning, including empirical learning of control rules, macro-operator learning, Explanation-Based Learning (EBL), and Probably Approximately Correct (PAC) Learning.

Although most scheduling problems are NP-hard, domain specific techniques perform well in practice but are quite expensive to construct. In adaptive problem-solving solving, domain specific knowledge is acquired automatically for a general problem solver with a flexible control architecture. In this approach, a learning system explores a space of possible heuristic methods for one well-suited to the eccentricities of the given domain and problem distribution. In this article, we discuss an application of the approach to scheduling satellite communications. Using problem distributions based on actual mission requirements, our approach identifies strategies that not only decrease the amount of CPU time required to produce schedules, but also increase the percentage of problems that are solvable within computational resource limitations.

The 1995 Robot Competition and Exhibition was held in Montreal, Canada, in conjunction with the 1995 International Joint Conference on Artificial Intelligence. The competition was designed to demonstrate state-of-the-art autonomous mobile robots, highlighting such tasks as goal-directed navigation, feature detection, object recognition, identification, and physical manipulation as well as effective human-robot communication. The competition consisted of two separate events: (1) Office Delivery and (2) Office Cleanup. The exhibition also consisted of two events: (1) demonstrations of robotics research that was not related to the contest and (2) robotics focused on aiding people who are mobility impaired. There was also a Robotics Forum for technical exchange of information between robotics researchers. Thus, this year's events covered the gamut of robotics research, from discussions of control strategies to demonstrations of useful prototype application systems.

(Bledsoe 1976). We didn't know we were being We spent a lot of time reading by ourselves, because most of the time the other grades were having their classes. But we DID learn, and had some pretty died on 4 October 1995 of ALS, good teachers (Bledsoe 1976). Woody was one of the and recalls spending "hours just roaming founders of AI, making early contributions in around, sometimes working mathematics pattern recognition and automated reasoning. He continued to make significant contributions When Woody was 12, his father died. It was to AI throughout his long career. His a devastating blow both emotionally and legacy consists not only of his scientific work financially. As Woody recalled, "We were poor but also of several generations of scientists before, but after papa died in January 1934, who learned from Woody the joy of scientific things got worse" (Bledsoe 1976). He and the research and the way to go about it. Woody's rest of his brothers and sisters worked dreary enthusiasm, his perpetual sense of optimism, 10-hour days to make ends meet. He to humanity offered those who knew him the found work in north Texas driving a tractor all hope and comfort that truly good and great night. After a month, he hopped a freight men do exist. He graduated little farm near Maysville, Oklahoma. He moved to Oklahoma to try his took a job as a dishwasher, working 12-hour luck at farming. Woody was the fourth child days 7 days a week. In for his heroic activities in arranging the April, the restaurant owner forced him back transportation of troops across the Rhine into working 12-hour days, which was too in March, 1945. He left the Rhine bridges except the one at Remagen university without saying goodbye and had been destroyed by the retreating German joined the United States Army. Patton's Third Army decided to cross the Rhine by boats near Frankfurt rather than suffer the delay of waiting for bridge construction. Therefore the went to Officer's Candidate School (OCS) Army Corps of Engineers hauled naval By the time he in 1942, he had been promoted to second landing craft (designed for beach landings) lieutenant. While at OCS, Woody had an by truck across Europe to ferry experience that had a profound effect on him: troops across the Rhine. Bledsoe, by then an Army captain, recalls that there was Another experience at OCS at Fort only light enemy fire during the crossing; Belvoir left a lasting impression on me. His first "research" was experimenting army truck. The simple idea opened the flap and said, "Get out here. of backing the trucks into the water, Let's do the map reading." He would later father a to get on with the work, to finish the son, Greg, born in March 1947. It taught me that "if we have to had two more children, Pam and Lance.

School of Computer Science School of Computer Science Carnegie Mellon University Carnegie Mellon University Pittsburgh, PA 15213 Pittsburgh, PA 15213 Abstract In many vision based tasks, the ability to focus attention on the important portions of a scene is crucial for good performance on the tasks. In this paper we present a simple method of achieving spatial selective attention through the use of a saliency map. The saliency map indicates which regions of the input retina are important for performing the task. The saliency map is created through predictive auto-encoding. The performance of this method is demonstrated on two simple tasks which have multiple very strong distracting features in the input retina. Architectural extensions and application directions for this model are presented. On some tasks this extra input can easily be ignored. Nonetheless, often the similarity between the important input features and the irrelevant features is great enough to interfere with task performance.

School of Computer Science Carnegie Mellon University Pittsburgh, PA 15213 Abstract In many vision based tasks, the ability to focus attention on the important portions of a scene is crucial for good performance on the tasks. In this paper we present a simple method of achieving spatial selective attention through the use of a saliency map. The saliency map indicates which regions of the input retina are important for performing the task. The saliency map is created throughpredictive auto-encoding. The performance of this method is demonstrated on two simple tasks which have multiple very strong distracting featuresin the input retina. Architectural extensions and application directions for this model are presented. On some tasks this extra input can easily be ignored. Nonetheless, often the similarity between the important input features and the irrelevant features is great enough to interfere with task performance.

The Financial Crimes Enforcement Network (FIN-CEN) AI system (FAIS) links and evaluates reports of large cash transactions to identify potential money laundering. The objective of FAIS is to discover previously unknown, potentially high-value leads for possible investigation. FAIS integrates intelligent human and software agents in a cooperative discovery task on a very large data space. It is a complex system incorporating several aspects of AI technology, including rule-based reasoning and a blackboard. FAIS consists of an underlying database (that functions as a black-board), a graphic user interface, and several preprocessing and analysis modules. FAIS has been in operation at FINCEN since March 1993; a dedicated group of analysts process approximately 200,000 transactions a week, during which time over 400 investigative support reports corresponding to over $1 billion in potential laundered funds were developed. FAIS's unique analytic power arises primarily from a change in view of the underlying data from a transaction-oriented perspective to a subject-oriented (that is, person or organization) perspective.