Autonomous Navigation
autonomous navigation
“Development and application of gaze control models for active perception”
Gaze shifts in humans serve to direct high-resolution vision provided by the fovea towards areas in the environment. Gaze can be considered a proxy for attention or indicator of the relative importance of different parts of the environment. In this talk, we discuss the development of generative models of human gaze in response to visual input. We discuss how such models can be learned, both using supervised learning and using implicit feedback as an agent interacts with the environment, the latter being more plausible in biological agents. We also discuss two ways such models can be used. First, they can be used to improve the performance of artificial autonomous systems, in applications such as autonomous navigation. Second, because these models are contingent on the human’s task, goals, and/or state in the context of the environment, observations of gaze can be used to infer information about user intent. This information can be used to improve human-machine and human robot interaction, by making interfaces more anticipative. We discuss example applications in gaze-typing, robotic tele-operation and human-robot interaction.
Playing StarCraft and saving the world using multi-agent reinforcement learning!
This is my C-14 Impaler gauss rifle! There are many like it, but this one is mine!" - A terran marine If you have never heard of a terran marine before, then you have probably missed out on playing the very engaging and entertaining strategy computer game, StarCraft. However, don’t despair, because what we have in store might be even more exciting! In this interactive session, we will take you through, step-by-step, on how to train a team of terran marines to defeat a team of marines controlled by the built-in game AI in StarCraft II. How will we achieve this? Using multi-agent reinforcement learning (MARL). MARL is a useful framework for building distributed intelligent systems. In MARL, multiple agents are trained to act as individual decision-makers of some larger system, while learning to work as a team. We will show you how to use Mava (https://github.com/instadeepai/Mava), a newly released research framework for MARL to build a multi-agent learning system for StarCraft II. We will provide the necessary guidance, tools and background to understand the key concepts behind MARL, how to use Mava building blocks to build systems and how to train a system from scratch. We will conclude the session by briefly sharing various exciting real-world application areas for MARL at InstaDeep, such as large-scale autonomous train navigation and circuit board routing. These are problems that become exponentially more difficult to solve as they scale. Finally, we will argue that many of humanity’s most important practical problems are reminiscent of the ones just described. These include, for example, the need for sustainable management of distributed resources under the pressures of climate change, or efficient inventory control and supply routing in critical distribution networks, or robotic teams for rescue missions and exploration. We believe MARL has enormous potential to be applied in these areas and we hope to inspire you to get excited and interested in MARL and perhaps one day contribute to the field!