Research on reinforcement learning has demonstrated promising results in manifold applications and domains. Still, efficiently learning effective robot behaviors is very difficult, due to unstructured scenarios, high uncertainties, and large state dimensionality (e.g. multi-agent systems or hyper-redundant robots). To alleviate this problem, we present DOP, a deep model-based reinforcement learning algorithm, which exploits action values to both (1) guide the exploration of the state space and (2) plan effective policies. Specifically, we exploit deep neural networks to learn Q-functions that are used to attack the curse of dimensionality during a Monte-Carlo tree search. Our algorithm, in fact, constructs upper confidence bounds on the learned value function to select actions optimistically. We implement and evaluate DOP on different scenarios: (1) a cooperative navigation problem, (2) a fetching task for a 7-DOF KUKA robot, and (3) a human-robot handover with a humanoid robot (both in simulation and real). The obtained results show the effectiveness of DOP in the chosen applications, where action values drive the exploration and reduce the computational demand of the planning process while achieving good performance.
In this paper, we address generalization at learning time by introducing , an iterative algorithm for policy generation that makes use of deep @math -networks to drive a focused exploration. relies on previous work @cite_21 and extends it with a different representation to obtain improved generalization capabilities over higher dimensional problems. In particular, we approximate the @math function using @math -learning with a deep convolutional neural network. Similar to @math -CP @cite_21 and TD-search @cite_6 , we aim at reducing the variance of value estimates during the search procedure by means of temporal difference learning. However, as in @cite_21 , extends TD-search by constructing upper confidence bounds on the value function, and by selecting optimistically with respect to those, instead of performing @math -greedy exploration. Thanks to the generalization capabilities of deep networks, improves over @math -CP both in terms of policy and exploration. Our representation, in fact, not only enables the algorithm to explore more informative portions of the search space @cite_20 @cite_11 , but also is able to generalize better among them with positive effects on the overall policy and search space expansion.
@cite_21 @cite_20 @cite_6 @cite_11
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The goal of search result diversification is to select a subset of documents from the candidate set to satisfy as many different subtopics as possible. In general, it is a problem of subset selection and selecting an optimal subset of documents is NP-hard. Existing methods usually formalize the problem as ranking the documents with greedy sequential document selection. At each of the ranking position the document that can provide the largest amount of additional information is selected. It is obvious that the greedy selections inevitably produce suboptimal rankings. In this paper we propose to partially alleviate the problem with a Monte Carlo tree search (MCTS) enhanced Markov decision process (MDP), referred to as M @math Div. In M @math Div, the construction of diverse ranking is formalized as an MDP process where each action corresponds to selecting a document for one ranking position. Given an MDP state which consists of the query, selected documents, and candidates, a recurrent neural network is utilized to produce the policy function for guiding the document selection and the value function for predicting the whole ranking quality. The produced raw policy and value are then strengthened with MCTS through exploring the possible rankings at the subsequent positions, achieving a better search policy for decision-making. Experimental results based on the TREC benchmarks showed that M @math Div can significantly outperform the state-of-the-art baselines based on greedy sequential document selection, indicating the effectiveness of the exploratory decision-making mechanism in M @math Div. We investigate the minimization of Newton's functional for the problem of the body of minimal resistance with maximal height @math cite butt in the class of convex developable functions defined in a disc. This class is a natural candidate to find a (non-radial) minimizer in accordance with the results of cite lrp2. We prove that the minimizer in this class has a minimal set in the form of a regular polygon with @math sides centered in the disc, and numerical experiments indicate that the natural number @math is a non-decreasing function of @math . The corresponding functions all achieve a lower value of the functional than the optimal radially symmetric function with the same height @math . We consider the problem of provably optimal exploration in reinforcement learning for finite horizon MDPs. We show that an optimistic modification to value iteration achieves a regret bound of @math where @math is the time horizon, @math the number of states, @math the number of actions and @math the number of time-steps. This result improves over the best previous known bound @math achieved by the UCRL2 algorithm of , 2010. The key significance of our new results is that when @math and @math , it leads to a regret of @math that matches the established lower bound of @math up to a logarithmic factor. Our analysis contains two key insights. We use careful application of concentration inequalities to the optimal value function as a whole, rather than to the transitions probabilities (to improve scaling in @math ), and we define Bernstein-based "exploration bonuses" that use the empirical variance of the estimated values at the next states (to improve scaling in @math ). Abstract Documents in computer-readable form can be used to provide information about other documents, i.e. those they cite. To do this efficiently requires procedures for computer recognition of citing statements. This is not easy, especially for multi-sentence citing statements. Computer recognition procedures have been developed which are accurate to the following extent: 73 of the words in statements selected by computer procedures as being citing statements are words which are correctly attributable to the corresponding documents. The retrieval effectiveness of computer-recognized citing statements was tested in the following way. First, for eight retrieval requests in inorganiic chemistry, average recall by search of Chemical Abstracts Service indexing and Chemical Abstracts abstract text words was found to be 50 . Words from citing statements referring to the papers to be retrieved were then added to the index terms and abstract words as additional access points, and searching was repeated. Average recall increased to 70 . Only words from citing statements published within a year of the cited papers were used. The retrieval effect of citing statement words alone (published within a year) without index or abstract terms was the following: average recall was 40 . When just the words of the titles of the cited papers were added to those citing statement words, average recall increased to 50 .