Learning obstacle avoidance with an operant behavioral model

Artificial intelligence researchers have been attracted by the idea of having robots learn how to accomplish a task, rather than being told explicitly. Reinforcement learning has been proposed as an appealing framework to be used in controlling mobile agents. Robot learning research, as well as research in biological systems, face many similar problems in order to display high flexibility in performing a variety of tasks. In this work, the controlling of a vehicle in an avoidance task by a previously developed operant learning model (a form of animal learning) is studied. An environment in which a mobile robot with proximity sensors has to minimize the punishment for colliding against obstacles is simulated. The results were compared with the Q-Learning algorithm, and the proposed model had better performance. In this way a new artificial intelligence agent inspired by neurobiology, psychology, and ethology research is proposed.Fil: Gutnisky, D. A.. Universidad de Buenos Aires. Facultad de Ingeniería.Instituto de Ingeniería Biomédica; ArgentinaFil: Zanutto, Bonifacio Silvano. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Biología y Medicina Experimental. Fundación de Instituto de Biología y Medicina Experimental. Instituto de Biología y Medicina Experimental; Argentina. Universidad de Buenos Aires. Facultad de Ingeniería.Instituto de Ingeniería Biomédica; Argentin

Cooperation in the iterated prisoner's dilemma is learned by operant conditioning mechanisms

The prisoner's dilemma (PD) is the leading metaphor for the evolution of cooperative behavior in populations of selfish agents. Although cooperation in the iterated prisoner's dilemma (IPD) has been studied for over twenty years, most of this research has been focused on strategies that involve nonlearned behavior. Another approach is to suppose that players' selection of the preferred reply might he enforced in the same way as feeding animals track the best way to feed in changing nonstationary environments. Learning mechanisms such as operant conditioning enable animals to acquire relevant characteristics of their environment in order to get reinforcements and to avoid punishments. In this study, the role of operant conditioning in the learning of cooperation was evaluated in the PD. We found that operant mechanisms allow the learning of IPD play against other strategies. When random moves are allowed in the game, the operant learning model showed low sensitivity. On the basis of this evidence, it is suggested that operant learning might be involved in reciprocal altruism.Fil: Gutnisky, D. A.. Universidad de Buenos Aires. Facultad de Ingenieria. Instituto de Ingeniería Biomédica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Biología y Medicina Experimental. Fundación de Instituto de Biología y Medicina Experimental. Instituto de Biología y Medicina Experimental; ArgentinaFil: Zanutto, Bonifacio Silvano. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Biología y Medicina Experimental. Fundación de Instituto de Biología y Medicina Experimental. Instituto de Biología y Medicina Experimental; Argentina. Universidad de Buenos Aires. Facultad de Ingenieria. Instituto de Ingeniería Biomédica; Argentin

A model independent approach to non dissipative decoherence

We consider the case when decoherence is due to the fluctuations of some classical variable or parameter of a system and not to its entanglement with the environment. Under few and quite general assumptions, we derive a model-independent formalism for this non-dissipative decoherence, and we apply it to explain the decoherence observed in some recent experiments in cavity QED and on trapped ions.Comment: 12 pages, 3 figure

The Semiclassical and Quantum Regimes of Superradiant Light Scattering from a Bose-Einstein Condensate

We show that many features of the recent experiments of Schneble et al. [D. Schneble, Y. Torii, M. Boyd, E.W. Streed, D.E. Pritchard and W. Ketterle, Science vol. 300, p. 475 (2003)], which demonstrate two different regimes of light scattering by a Bose-Einstein condensate, can be described using a one-dimensional mean-field quantum CARL model, where optical amplification occurs simultaneously with the production of a periodic density modulation in the atomic medium. The two regimes of light scattering observed in these experiments, originally described as ``Kapiza-Dirac scattering'' and ``Superradiant Rayleigh scattering'', can be interpreted as the semiclassical and quantum limits respectively of CARL lasing.Comment: 10 pages, 5 figures - to appear in Journal of Optics

Non dissipative decoherence of Rabi oscillations

We present a simple theoretical description of two recent experiments where damping of Rabi oscillations, which cannot be attributed to dissipative decoherence, has been observed. This is obtained considering the evolution time or the Hamiltonian as random variables and then averaging the usual unitary evolution on a properly defined, model-independent, probability distribution.Comment: 4 pages, RevTe

Atomic interaction effects in the superradiant light scattering from a Bose-Einstein condensate

We investigate the effects of the atomic interaction in the Superradiant Rayleigh scattering from a Bose-Einstein condensate driven by a far-detuned laser beam. We show that for a homogeneous atomic sample the atomic interaction has only a dispersive effect, whereas in the inhomogeneous case it may increase the decay of the matter-wave grating.Comment: 12 pages, 4 figures, presented to the XII International Laser Physics Workshop, August 24-29, Hamburg, to be published in Laser Physic

Classical and quantum general relativity: a new paradigm

We argue that recent developments in discretizations of classical and quantum gravity imply a new paradigm for doing research in these areas. The paradigm consists in discretizing the theory in such a way that the resulting discrete theory has no constraints. This solves many of the hard conceptual problems of quantum gravity. It also appears as a useful tool in some numerical simulations of interest in classical relativity. We outline some of the salient aspects and results of this new framework.Comment: 8 pages, one figure, fifth prize of the Gravity Research Foundation 2005 essay competitio

Comparison of Recoil-Induced Resonances (RIR) and Collective Atomic Recoil Laser (CARL)

The theories of recoil-induced resonances (RIR) [J. Guo, P. R. Berman, B. Dubetsky and G. Grynberg, Phys. Rev. A {\bf 46}, 1426 (1992)] and the collective atomic recoil laser (CARL) [ R. Bonifacio and L. De Salvo, Nucl. Instrum. Methods A {\bf 341}, 360 (1994)] are compared. Both theories can be used to derive expressions for the gain experienced by a probe field interacting with an ensemble of two-level atoms that are simultaneously driven by a pump field. It is shown that the RIR and CARL formalisms are equivalent. Differences between the RIR and CARL arise because the theories are typically applied for different ranges of the parameters appearing in the theory. The RIR limit considered in this paper is $qP_{0}/M\omega_{q}\gg 1$, while the CARL limit is $qP_{0}/M\omega_{q}\lesssim 1$, where $$ is the magnitude of the difference of the wave vectors of the pump and probe fields, $P_{0}$ is the width of the atomic momentum distribution and $$ is a recoil frequency. The probe gain for a probe-pump detuning equal to zero is analyzed in some detail, in order to understand how the gain arises in a system which, at first glance, might appear to have vanishing gain. Moreover, it is shown that the calculations, carried out in perturbation theory have a range of applicability beyond the recoil problem. Experimental possibilities for observing CARL are discussed.Comment: 16 pages, 1 figure. Submitted to Physical Review

Observation of Lasing Mediated by Collective Atomic Recoil

We observe the buildup of a frequency-shifted reverse light field in a unidirectionally pumped high-$Q$ optical ring cavity serving as a dipole trap for cold atoms. This effect is enhanced and a steady state is reached, if via an optical molasses an additional friction force is applied to the atoms. We observe the displacement of the atoms accelerated by momentum transfer in the backscattering process and interpret our observations in terms of the collective atomic recoil laser. Numerical simulations are in good agreement with the experimental results.Comment: 4 pages, 3 figure

Dynamical decoherence in a cavity with a large number of two-level atoms

We consider a large number of two-level atoms interacting with the mode of a cavity in the rotating-wave approximation (Tavis-Cummings model). We apply the Holstein-Primakoff transformation to study the model in the limit of the number of two-level atoms, all in their ground state, becoming very large. The unitary evolution that we obtain in this approximation is applied to a macroscopic superposition state showing that, when the coherent states forming the superposition are enough distant, then the state collapses on a single coherent state describing a classical radiation mode. This appear as a true dynamical effect that could be observed in experiments with cavities.Comment: 9 pages, no figures. This submission substitutes paper quant-ph/0212148 that was withdrawn. Version accepted for publication in Journal of Physics B: Atomic, Molecular & Optical Physic