Pub Date : 2019-08-31DOI: 10.1109/CEEC47804.2019.8974334
F. Bianco, D. Ognibene
Great advancements have been achieved in the field of robotics, however, main challenges remain, including building robots with an adaptive Theory of Mind (ToM). In the present paper, seven current robotic architectures for human-robot interactions were described as well as four main functional advantages of equipping robots with an adaptive ToM. The aim of the present paper was to determine in which way and how often ToM features are integrated in the architectures analyzed, and if they provide robots with the associated functional advantages. Our assessment shows that different methods are used to implement ToM features in robotic architectures. Furthermore, while a ToM for false-belief understanding and tracking is often built in social robotic architectures, a ToM for proactivity, active perception and learning is less common. Nonetheless, progresses towards better adaptive ToM features in robots are warranted to provide them with full access to the advantages of having a ToM resembling that of humans.
{"title":"Functional advantages of an adaptive Theory of Mind for robotics: a review of current architectures","authors":"F. Bianco, D. Ognibene","doi":"10.1109/CEEC47804.2019.8974334","DOIUrl":"https://doi.org/10.1109/CEEC47804.2019.8974334","url":null,"abstract":"Great advancements have been achieved in the field of robotics, however, main challenges remain, including building robots with an adaptive Theory of Mind (ToM). In the present paper, seven current robotic architectures for human-robot interactions were described as well as four main functional advantages of equipping robots with an adaptive ToM. The aim of the present paper was to determine in which way and how often ToM features are integrated in the architectures analyzed, and if they provide robots with the associated functional advantages. Our assessment shows that different methods are used to implement ToM features in robotic architectures. Furthermore, while a ToM for false-belief understanding and tracking is often built in social robotic architectures, a ToM for proactivity, active perception and learning is less common. Nonetheless, progresses towards better adaptive ToM features in robots are warranted to provide them with full access to the advantages of having a ToM resembling that of humans.","PeriodicalId":331160,"journal":{"name":"2019 11th Computer Science and Electronic Engineering (CEEC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123212945","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-19DOI: 10.1109/CEEC47804.2019.8974324
Olegs Nalivajevs, Daniel Karapetyan
The Generalised Travelling Salesman Problem (GTSP) is a well-known problem that, among other applications, arises in warehouse order picking, where each stock is distributed between several locations – a typical approach in large modern warehouses. However, the instances commonly used in the literature have a completely different structure, and the methods are designed with those instances in mind. In this paper, we give a new pseudo-random instance generator that reflects the warehouse order picking and publish new benchmark testbeds. We also use the Conditional Markov Chain Search framework to automatically generate new GTSP metaheuristics trained specifically for warehouse order picking. Finally, we report the computational results of our metaheuristics to enable further competition between solvers.
{"title":"Conditional Markov Chain Search for the Generalised Travelling Salesman Problem for Warehouse Order Picking","authors":"Olegs Nalivajevs, Daniel Karapetyan","doi":"10.1109/CEEC47804.2019.8974324","DOIUrl":"https://doi.org/10.1109/CEEC47804.2019.8974324","url":null,"abstract":"The Generalised Travelling Salesman Problem (GTSP) is a well-known problem that, among other applications, arises in warehouse order picking, where each stock is distributed between several locations – a typical approach in large modern warehouses. However, the instances commonly used in the literature have a completely different structure, and the methods are designed with those instances in mind. In this paper, we give a new pseudo-random instance generator that reflects the warehouse order picking and publish new benchmark testbeds. We also use the Conditional Markov Chain Search framework to automatically generate new GTSP metaheuristics trained specifically for warehouse order picking. Finally, we report the computational results of our metaheuristics to enable further competition between solvers.","PeriodicalId":331160,"journal":{"name":"2019 11th Computer Science and Electronic Engineering (CEEC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121831768","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-19DOI: 10.1109/CEEC47804.2019.8974317
D. Marinov, Daniel Karapetyan
It is typical for a machine learning system to have numerous hyperparameters that affect its learning rate and prediction quality. Finding a good combination of the hyperparameters is, however, a challenging job. This is mainly because evaluation of each combination is extremely expensive computationally; indeed, training a machine learning system on real data with just a single combination of hyperparameters usually takes hours or even days. In this paper, we address this challenge by trying to predict the performance of the machine learning system with a given combination of hyperparameters without completing the expensive learning process. Instead, we terminate the training process at an early stage, collect the model performance data and use it to predict which of the combinations of hyperparameters is most promising. Our preliminary experiments show that such a prediction improves the performance of the commonly used random search approach.
{"title":"Hyperparameter Optimisation with Early Termination of Poor Performers","authors":"D. Marinov, Daniel Karapetyan","doi":"10.1109/CEEC47804.2019.8974317","DOIUrl":"https://doi.org/10.1109/CEEC47804.2019.8974317","url":null,"abstract":"It is typical for a machine learning system to have numerous hyperparameters that affect its learning rate and prediction quality. Finding a good combination of the hyperparameters is, however, a challenging job. This is mainly because evaluation of each combination is extremely expensive computationally; indeed, training a machine learning system on real data with just a single combination of hyperparameters usually takes hours or even days. In this paper, we address this challenge by trying to predict the performance of the machine learning system with a given combination of hyperparameters without completing the expensive learning process. Instead, we terminate the training process at an early stage, collect the model performance data and use it to predict which of the combinations of hyperparameters is most promising. Our preliminary experiments show that such a prediction improves the performance of the commonly used random search approach.","PeriodicalId":331160,"journal":{"name":"2019 11th Computer Science and Electronic Engineering (CEEC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128472783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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