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Full-Text Articles in Physical Sciences and Mathematics
A Bayesian Technique For Task Localization In Multiple Goal Markov Decision Processes, James Carroll, Kevin Seppi
A Bayesian Technique For Task Localization In Multiple Goal Markov Decision Processes, James Carroll, Kevin Seppi
Faculty Publications
In a reinforcement learning task library system for Multiple Goal Markov Decision Process (MGMDP), localization in the task space allows the agent to determine whether a given task is already in its library in order to exploit previously learned experience. Task localization in MGMDPs can be accomplished through a Bayesian approach, however a trivial approach fails when the rewards are not distributed normally. This can be overcome through our Bayesian Task Localization Technique (BTLT).
Vision-Based Human Directed Robot Guidance, Richard B. Arthur
Vision-Based Human Directed Robot Guidance, Richard B. Arthur
Theses and Dissertations
This paper describes methods to track a user-defined point in the vision of a robot as it drives forward. This tracking allows a robot to keep itself directed at that point while driving so that it can get to that user-defined point. I develop and present two new multi-scale algorithms for tracking arbitrary points between two frames of video, as well as through a video sequence. The multi-scale algorithms do not use the traditional pyramid image, but instead use a data structure called an integral image (also known as a summed area table). The first algorithm uses edge-detection to track …
Using Permutations Instead Of Student’S T Distribution For P-Values In Paired-Difference Algorithm Comparisons, Tony R. Martinez, Joshua Menke
Using Permutations Instead Of Student’S T Distribution For P-Values In Paired-Difference Algorithm Comparisons, Tony R. Martinez, Joshua Menke
Faculty Publications
The paired-difference t-test is commonly used in the machine learning community to determine whether one learning algorithm is better than another on a given learning task. This paper suggests the use of the permutation test instead hecause it calculates the exact p-value instead of an estimate. The permutation test is also distribution free and the time complexity is trivial for the commonly used 10-fold cross-validation paired-difference test. Results of experiments on real-world problems suggest it is not uncommon to see the t-test estimate deviate up to 30-50% from the exact p-value.
Solving Large Mdps Quickly With Partitioned Value Iteration, David Wingate
Solving Large Mdps Quickly With Partitioned Value Iteration, David Wingate
Theses and Dissertations
Value iteration is not typically considered a viable algorithm for solving large-scale MDPs because it converges too slowly. However, its performance can be dramatically improved by eliminating redundant or useless backups, and by backing up states in the right order. We present several methods designed to help structure value dependency, and present a systematic study of companion prioritization techniques which focus computation in useful regions of the state space. In order to scale to solve ever larger problems, we evaluate all enhancements and methods in the context of parallelizability. Using the enhancements, we discover that in many instances the limiting …