In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which in turn helps in analyzing the results and finding out the various spaces on which our favorable situation might exist, this is done geometrically. In the mathematical model, we have explained the matrix formation and its significance followed up in dynamic programming approach we explained the possible graph formation which will led improvisation of AI, latter we explained the possible geometrical structure of the matrix operations and its impact on a particular decision, we also explained the conditions under which it tend to fail along with a possible solution in future works.
We discuss a new non-linear PDE, u_t + (2 u_xx/u) u_x = epsilon u_xxx, invariant under scaling of dependent variable and referred to here as SIdV. It is one of the simplest such translation and space-time reflection-symmetric first order advection-dispersion equations. This PDE (with dispersion coefficient unity) was discovered in a genetic programming search for equations sharing the KdV solitary wave solution. It provides a bridge between non-linear advection, diffusion and dispersion. Special cases include the mKdV and linear dispersive equations. We identify two conservation laws, though initial investigations indicate that SIdV does not follow from a polynomial Lagrangian of the KdV sort. Nevertheless, it possesses solitary and periodic travelling waves. Moreover, numerical simulations reveal recurrence properties usually associated with integrable systems. KdV and SIdV are the simplest in an infinite dimensional family of equations sharing the KdV solitary wave. SIdV and its generalizations may serve as a testing ground for numerical and analytical techniques and be a rich source for further explorations.
This paper presents two variants of penta-valued representation for neutrosophic entropy. The first is an extension of Kaufmann's formula and the second is an extension of Kosko's formula. Based on the primary three-valued information represented by the degree of truth, degree of falsity and degree of neutrality there are built some penta-valued representations that better highlights some specific features of neutrosophic entropy. Thus, we highlight five features of neutrosophic uncertainty such as ambiguity, ignorance, contradiction, neutrality and saturation. These five features are supplemented until a seven partition of unity by adding two features of neutrosophic certainty such as truth and falsity. The paper also presents the particular forms of neutrosophic entropy obtained in the case of bifuzzy representations, intuitionistic fuzzy representations, paraconsistent fuzzy representations and finally the case of fuzzy representations.
Value functions arise as a component of algorithms as well as performance metrics in statistics and engineering applications. Computation of the associated Bellman equations is numerically challenging in all but a few special cases. A popular approximation technique is known as Temporal Difference (TD) learning. The algorithm introduced in this paper is intended to resolve two well-known problems with this approach: In the discounted-cost setting, the variance of the algorithm diverges as the discount factor approaches unity. Second, for the average cost setting, unbiased algorithms exist only in special cases. It is shown that the gradient of any of these value functions admits a representation that lends itself to algorithm design. Based on this result, the new differential TD method is obtained for Markovian models on Euclidean space with smooth dynamics. Numerical examples show remarkable improvements in performance. In application to speed scaling, variance is reduced by two orders of magnitude.
Person knowledge extraction is the foundation of the Tibetan knowledge graph construction, which provides support for Tibetan question answering system, information retrieval, information extraction and other researches, and promotes national unity and social stability. This paper proposes a SVM and template based approach to Tibetan person knowledge extraction. Through constructing the training corpus, we build the templates based the shallow parsing analysis of Tibetan syntactic, semantic features and verbs. Using the training corpus, we design a hierarchical SVM classifier to realize the entity knowledge extraction. Finally, experimental results prove the method has greater improvement in Tibetan person knowledge extraction.
Many patch-based image denoising algorithms can be formulated as applying a smoothing filter to the noisy image. Expressed as matrices, the smoothing filters must be row normalized so that each row sums to unity. Surprisingly, if we apply a column normalization before the row normalization, the performance of the smoothing filter can often be significantly improved. Prior works showed that such performance gain is related to the Sinkhorn-Knopp balancing algorithm, an iterative procedure that symmetrizes a row-stochastic matrix to a doubly-stochastic matrix. However, a complete understanding of the performance gain phenomenon is still lacking. In this paper, we study the performance gain phenomenon from a statistical learning perspective. We show that Sinkhorn-Knopp is equivalent to an Expectation-Maximization (EM) algorithm of learning a Gaussian mixture model of the image patches. By establishing the correspondence between the steps of Sinkhorn-Knopp and the EM algorithm, we provide a geometrical interpretation of the symmetrization process. This observation allows us to develop a new denoising algorithm called Gaussian mixture model symmetric smoothing filter (GSF). GSF is an extension of the Sinkhorn-Knopp and is a generalization of the original smoothing filters. Despite its simple formulation, GSF outperforms many existing smoothing filters and has a similar performance compared to several state-of-the-art denoising algorithms.
In this paper, we describe a computational model for motion events in natural language that maps from linguistic expressions, through a dynamic event interpretation, into three-dimensional temporal simulations in a model. Starting with the model from (Pustejovsky and Moszkowicz, 2011), we analyze motion events using temporally-traced Labelled Transition Systems. We model the distinction between path- and manner-motion in an operational semantics, and further distinguish different types of manner-of-motion verbs in terms of the mereo-topological relations that hold throughout the process of movement. From these representations, we generate minimal models, which are realized as three-dimensional simulations in software developed with the game engine, Unity. The generated simulations act as a conceptual "debugger" for the semantics of different motion verbs: that is, by testing for consistency and informativeness in the model, simulations expose the presuppositions associated with linguistic expressions and their compositions. Because the model generation component is still incomplete, this paper focuses on an implementation which maps directly from linguistic interpretations into the Unity code snippets that create the simulations.
We propose to use Gaussian process regression to accurately estimate the diffusion MRI signal at arbitrary locations in q-space. By estimating the signal on a grid, we can do synthetic diffusion spectrum imaging: reconstructing the ensemble averaged propagator (EAP) by an inverse Fourier transform. We also propose an alternative reconstruction method guaranteeing a nonnegative EAP that integrates to unity. The reconstruction is validated on data simulated from two Gaussians at various crossing angles. Moreover, we demonstrate on non-uniformly sampled in vivo data that the method is far superior to linear interpolation, and allows a drastic undersampling of the data with only a minor loss of accuracy. We envision the method as a potential replacement for standard diffusion spectrum imaging, in particular when acquistion time is limited.
Understanding why a model made a certain prediction is crucial in many data science fields. Interpretable predictions engender appropriate trust and provide insight into how the model may be improved. However, with large modern datasets the best accuracy is often achieved by complex models even experts struggle to interpret, which creates a tension between accuracy and interpretability. Recently, several methods have been proposed for interpreting predictions from complex models by estimating the importance of input features. Here, we present how a model-agnostic additive representation of the importance of input features unifies current methods. This representation is optimal, in the sense that it is the only set of additive values that satisfies important properties. We show how we can leverage these properties to create novel visual explanations of model predictions. The thread of unity that this representation weaves through the literature indicates that there are common principles to be learned about the interpretation of model predictions that apply in many scenarios.
Stochastic Gradient Descent (SGD) is widely used in machine learning problems to efficiently perform empirical risk minimization, yet, in practice, SGD is known to stall before reaching the actual minimizer of the empirical risk. SGD stalling has often been attributed to its sensitivity to the conditioning of the problem; however, as we demonstrate, SGD will stall even when applied to a simple linear regression problem with unity condition number for standard learning rates. Thus, in this work, we numerically demonstrate and mathematically argue that stalling is a crippling and generic limitation of SGD and its variants in practice. Once we have established the problem of stalling, we generalize an existing framework for hedging against its effects, which (1) deters SGD and its variants from stalling, (2) still provides convergence guarantees, and (3) makes SGD and its variants more practical methods for minimization.
Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers, to achieve high tracking precision can be time-consuming and difficult, due to hidden dynamics and other non-idealities. The Deep Neural Network (DNN), with its superior capability of approximating abstract, nonlinear functions, proposes a novel approach for enhancing trajectory tracking control. This paper presents a DNN-based algorithm as an add-on module that improves the tracking performance of a classical feedback controller. Given a desired trajectory, the DNNs provide a tailored reference input to the controller based on their gained experience. The input aims to achieve a unity map between the desired and the output trajectory. The motivation for this work is an interactive "fly-as-you-draw" application, in which a user draws a trajectory on a mobile device, and a quadrotor instantly flies that trajectory with the DNN-enhanced control system. Experimental results demonstrate that the proposed approach improves the tracking precision for user-drawn trajectories after the DNNs are trained on selected periodic trajectories, suggesting the method's potential in real-world applications. Tracking errors are reduced by around 40-50% for both training and testing trajectories from users, highlighting the DNNs' capability of generalizing knowledge.
In the online multiple testing problem, p-values corresponding to different null hypotheses are observed one by one, and the decision of whether or not to reject the current hypothesis must be made immediately, after which the next p-value is observed. Alpha-investing algorithms to control the false discovery rate (FDR), formulated by Foster and Stine, have been generalized and applied to many settings, including quality-preserving databases in science and multiple A/B or multi-armed bandit tests for internet commerce. This paper improves the class of generalized alpha-investing algorithms (GAI) in four ways: (a) we show how to uniformly improve the power of the entire class of monotone GAI procedures by awarding more alpha-wealth for each rejection, giving a win-win resolution to a recent dilemma raised by Javanmard and Montanari, (b) we demonstrate how to incorporate prior weights to indicate domain knowledge of which hypotheses are likely to be non-null, (c) we allow for differing penalties for false discoveries to indicate that some hypotheses may be more important than others, (d) we define a new quantity called the decaying memory false discovery rate (mem-FDR) that may be more meaningful for truly temporal applications, and which alleviates problems that we describe and refer to as "piggybacking" and "alpha-death". Our GAI++ algorithms incorporate all four generalizations simultaneously, and reduce to more powerful variants of earlier algorithms when the weights and decay are all set to unity. Finally, we also describe a simple method to derive new online FDR rules based on an estimated false discovery proportion.
As an initial assessment, over 480,000 labeled virtual images of normal highway driving were readily generated in Grand Theft Auto V's virtual environment. Using these images, a CNN was trained to detect following distance to cars/objects ahead, lane markings, and driving angle (angular heading relative to lane centerline): all variables necessary for basic autonomous driving. Encouraging results were obtained when tested on over 50,000 labeled virtual images from substantially different GTA-V driving environments. This initial assessment begins to define both the range and scope of the labeled images needed for training as well as the range and scope of labeled images needed for testing the definition of boundaries and limitations of trained networks. It is the efficacy and flexibility of a "GTA-V"-like virtual environment that is expected to provide an efficient well-defined foundation for the training and testing of Convolutional Neural Networks for safe driving. Additionally, described is the Princeton Virtual Environment (PVE) for the training, testing and enhancement of safe driving AI, which is being developed using the video-game engine Unity. PVE is being developed to recreate rare but critical corner cases that can be used in re-training and enhancing machine learning models and understanding the limitations of current self driving models. The Florida Tesla crash is being used as an initial reference.
The abstract of the thesis consists of three sections, videlicet, Motivation Chapter Organization Salient Contributions. The complete abstract is included with the thesis. The final section on Salient Contributions is reproduced below. Salient Contributions The research presents the following salient contributions: i. A novel technique has been developed for comparing biographical information, by combining the average impact of Levenshtein, Damerau-Levenshtein, and editor distances. The impact is calculated as the ratio of the edit distance to the maximum possible edit distance between two strings of the same lengths as the given pair of strings. This impact lies in the range [0, 1] and can easily be converted to a similarity (matching) score by subtracting the impact from unity. ii. A universal soft computing framework is proposed for adaptively fusing biometric and biographical information by making real-time decisions to determine after consideration of each individual identifier whether computation of matching scores and subsequent fusion of additional identifiers, including biographical information is required. This proposed framework not only improves the accuracy of the system by fusing less reliable information (e.g. biographical information) only for instances where such a fusion is required, but also improves the efficiency of the system by computing matching scores for various available identifiers only when this computation is considered necessary. iii. A scientific method for comparing efficiency of fusion strategies through a predicted effort to error trade-off curve.
Batch normalization was introduced in 2015 to speed up training of deep convolution networks by normalizing the activations across the current batch to have zero mean and unity variance. The results presented here show an interesting aspect of batch normalization, where controlling the shape of the training batches can influence what the network will learn. If training batches are structured as balanced batches (one image per class), and inference is also carried out on balanced test batches, using the batch's own means and variances, then the conditional results will improve considerably. The network uses the strong information about easy images in a balanced batch, and propagates it through the shared means and variances to help decide the identity of harder images on the same batch. Balancing the test batches requires the labels of the test images, which are not available in practice, however further investigation can be done using batch structures that are less strict and might not require the test image labels. The conditional results show the error rate almost reduced to zero for nontrivial datasets with small number of classes such as the CIFAR10.
Given the existence of many change detection algorithms, each with its own peculiarities and strengths, we propose a combination strategy, that we termed IUTIS (In Unity There Is Strength), based on a genetic Programming framework. This combination strategy is aimed at leveraging the strengths of the algorithms and compensate for their weakness. In this paper we show our findings in applying the proposed strategy in two different scenarios. The first scenario is purely performance-based. The second scenario performance and efficiency must be balanced. Results demonstrate that starting from simple algorithms we can achieve comparable results with respect to more complex state-of-the-art change detection algorithms, while keeping the computational complexity affordable for real-time applications.
Although simple individually, artificial neurons provide state-of-the-art performance when interconnected in deep networks. Unknown to many, there exists an arguably even simpler and more versatile learning mechanism, namely, the Tsetlin Automaton. Merely by means of a single integer as memory, it learns the optimal action in stochastic environments through increment and decrement operations. In this paper, we introduce the Tsetlin Machine, which solves complex pattern recognition problems with easy-to-interpret propositional formulas, composed by a collective of Tsetlin Automata. To eliminate the longstanding problem of vanishing signal-to-noise ratio, the Tsetlin Machine orchestrates the automata using a novel game. Our theoretical analysis establishes that the Nash equilibria of the game align with the propositional formulas that provide optimal pattern recognition accuracy. This translates to learning without local optima, only global ones. We argue that the Tsetlin Machine finds the propositional formula that provides optimal accuracy, with probability arbitrarily close to unity. In five benchmarks, the Tsetlin Machine provides competitive accuracy compared with SVMs, Decision Trees, Random Forests, Naive Bayes Classifier, Logistic Regression, and Neural Networks. The Tsetlin Machine further has an inherent computational advantage since both inputs, patterns, and outputs are expressed as bits, while recognition and learning rely on bit manipulation. The combination of accuracy, interpretability, and computational simplicity makes the Tsetlin Machine a promising tool for a wide range of domains. Being the first of its kind, we believe the Tsetlin Machine will kick-start new paths of research, with a potentially significant impact on the AI field and the applications of AI.