In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.

Input: Consider Input: Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous, non-anonymous, or organized in groups. Although powerful solvers for this abstract problem exist, they make simplifying assumptions by ignoring kinematic constraints, making it difficult to use the resulting plans on actual robots. In this paper, we present a solution which takes kinematic constraints, such as maximum velocities, into account, while guaranteeing a user-specified minimum safety distance between robots. We demonstrate our approach in simulation and on real robots in 2D and 3D environments.

Output: Path Planning With Kinematic Constraints For Robot Groups


Input: Consider Input: Reactive (memoryless) policies are sufficient in completely observable Markov decision pro­ cesses (MDPs), but some kind of memory is usually necessary for optimal control of a par­ tially observable MDP. Policies with finite mem­ ory can be represented as finite-state automata. In this paper, we extend Baird and Moore's YAPS algorithm to the problem of learning gen­ eral finite-state automata. Because it performs stochastic gradient descent, this algorithm can be shown to converge to a locally optimal finite­ state controller. We provide the details of the algorithm and then consider the question of un­ der what conditions stochastic gradient descent will outperform exact gradient descent. We con­ clude with empirical results comparing the per­ formance of stochastic and exact gradient de­ scent, and showing the ability of our algorithm to extract the useful information contained in the sequence of past observations to compensate for the lack of observability at each time-step.

Output: Learning Finite-State Controllers for Partially Observable Environments


Input: Consider Input: One of the core components of modern spoken dialogue systems is the belief tracker, which estimates the user’s goal at every step of the dialogue. However, most current approaches have difficulty scaling to larger, more complex dialogue domains. This is due to their dependency on either: a) Spoken Language Understanding models that require large amounts of annotated training data; or b) hand-crafted lexicons for capturing some of the linguistic variation in users’ language. We propose a novel Neural Belief Tracking (NBT) framework which overcomes these problems by building on recent advances in representation learning. NBT models reason over pre-trained word vectors, learning to compose them into distributed representations of user utterances and dialogue context. Our evaluation on two datasets shows that this approach surpasses past limitations, matching the performance of state-of-the-art models which rely on hand-crafted semantic lexicons and outperforming them when such lexicons are not provided.


Output: Neural Belief Tracker: Data-Driven Dialogue State Tracking