These lecture notes give an in-depth introduction to the current state-of-the-art in action programming. The main topics are. The only prerequisite for understanding the material in these lecture notes is some general programming experience and basic knowledge of classical first-order logic. The design of autonomous agents, including robots, is one of the most exciting and challenging goals of Artificial Intelligence. Reasoning robotic agents constitute a link between knowledge representation and reasoning on the one hand, and agent programming and robot control on the other. This book provides a uniform mathematical model for the problem-driven, top-down design of rational agents, which use reasoning for decision making, planning, and troubleshooting.

The implementation of the mathematical model by a general PROLOG program allows readers to practice the design of reasoning robotic agents. Computational Logic Startseite. The main topics are knowledge representation for actions, procedural action programming, planning, agent logic programs, and reactive, behavior-based agents. Time Table Lecture Mondays 4. DS E - starting on April 6th Wednesdays 4. Keynote 6: Masahiro Fujita [ ResearchGate ]. Sony made the announcement of a new entertainment robot, aibo, in November 11, From the original version of AIBO sold in , it is almost 20 years past.

I will describe the new aibo comparing with the original aibo. In addition I will introduce Sony's robotics activities until Bio: Masahiro Fujita received a B. He joined Sony Corporation in Title : Combining physics and neural networks for stable adaptive control and system identification. Concurrent learning and control in dynamical systems is the subject of adaptive nonlinear control.

We discuss systematic algorithms in this context, both vintage and recent. The algorithms, applicable to both adaptive control and system identification, have guaranteed stability and convergence properties based on Lyapunov theory and contraction analysis. They easily combine information from physics e. A key enabling aspect of this performance is that adaptation and learning occur on a "need-to-know" basis, in the sense that the system learns just enough to achieve the desired real-time control or identification task. The algorithms can be extended to exploit dynamic representations based on multilayer or deep networks, with similar stability and.

### The Art and Science of Programming Robotic Agents

They can also exploit both physics-based and local basis functions for real-time computational efficiency. He received his Ph. His research focuses on developing rigorous but practical tools for nonlinear systems analysis and control.

These have included key advances and experimental demonstrations in the contexts of sliding control, adaptive nonlinear control, adaptive robotics, machine learning, and contraction analysis of nonlinear dynamical systems. Tutorial 2: Benjamin Recht [ Google Scholar ]. Title : Optimization Perspectives on Learning to Control. Given the dramatic successes in machine learning over the past half decade, there has been a resurgence of interest in applying learning techniques to continuous control problems in robotics, self-driving cars, and unmanned aerial vehicles.

Though such applications appear to be straightforward generalizations of reinforcement learning, it remains unclear which machine learning tools are best equipped to handle decision making, planning, and actuation in highly uncertain dynamic environments.

This tutorial will survey the foundations required to build machine learning systems that reliably act upon the physical world. The primary technical focus will be on numerical optimization tools at the interface of statistical learning and dynamical systems.

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We will investigate how to learn models of dynamical systems, how to use data to achieve objectives in a timely fashion, how to balance model specification and system controllability, and how to safely acquire new information to improve performance. We will close by listing several exciting open problems that must be solved before we can build robust, reliable learning systems that interact with an uncertain environment.

Ben's research group studies the theory and practice of optimization algorithms with a focus on applications in machine learning, data analysis, and controls.

## Michael Thielscher - Google 學術搜尋引用文獻

Tutorial 3 : Emo Todorov [ Google Scholar ]. Title : Sensorimotor intelligence via model-based optimization. Model-free reinforcement learning has produced surprisingly good results for a brute-force method. However it appears to be reaching an asymptote that is not competitive with model-based optimization.

- Fall 2010: CSCI-445 Introduction to Robotics.
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Furthermore it is mostly limited to simulation where a model is available by definition. So we might as well take full advantage of that model, and reserve model-free methods for fine-tuning on real data. In this tutorial I will discuss state-of-the-art methods that become available once we admit that have a model. As with any other form of optimization, the single most important ingredient is having access to analytical derivatives.

## Fluent calculus

This is standard in supervised learning for example, but general-purpose physics simulators are difficult to differentiate. Nevertheless this is now possible in MuJoCo as well as some more limited simulators, opening up possibilities for much more efficient optimization. Another essential ingredient in the control context is inverse dynamics. This enables trajectory optimization methods where the consistency between states and controls no longer needs to be enforced numerically, and instead one has to enforce under-actuation constraints which are lower-dimensional.

Another challenge, specific to problems with contact dynamics, is that contacts result in very complex optimization landscapes that can be difficult to navigate even for a full Newton method. Unlike the situation in neural networks where saddle points appear to be the problem, here the problem is harder: the gradient is large yet it changes rapidly in non-linear ways that are not captured by the Hessian and we don't have 3rd-order methods.