- Currently Reading: Merida, Chasing Magic (because I want to understand children's books better, and I like the drawing of Merida's awesome red hair which is an inspiration for my drawings of Serendipity) and The Cognitive Neurosciences, Fifth Edition (because I am working on a project on the engineering applications of consciousness research, and research on the neural correlates of consciousness has exploded in the last twenty years).
- Currently Rereading: The New Testament: A Historical Introduction to the Early Christian Writings (because Lent), Planning Algorithms by Lavalle and Reinforcement Learning by Sutton and Barto (because my robot navigation research is heating up and I want to understand the connections of reinforcement learning and classical planning, both of which have related but different ideas of value iteration; also because I'm planning on coding a small toy DQN to help me better understand the larger machinery I use at work).
- Currently Dreading: Finishing my taxes, and finishing my edits on Shattered Sky by David Colby. Both so late! Sorry.
- Currently Missing: My wife, on a business trip; my cats, at home waiting for me to finish up lunch, shift gears, and go home to go through The Tax Pile.
Posts published in “Real Life”
It’s what happens when we’re not working or playing or thinking or doing. That thing we do that doesn’t fit into all the other categories.
Sometimes we call it living.
- Listening To: Tomb Raider soundtrack (the original).
- Reading: Theoretical Neuroscience (book).
- Writing: "Death is a Game for the Young", a novella in the Jeremiah Willstone multiverse.
- Editing: SPECTRAL IRON, Dakota Frost #4.
- Reviewing: SHATTERED SKY, Lunar Cycle #2 by David Colby.
- Researching: Neural Approaches to Universal Subgoaling.
- Programming: A toy DQN (Deep Q Network) to stretch my knowledge.
- Drawing: Steampunk girls with goggles.
- Planning: Camp Nanowrimo for April, ROOT USER, Cinnamon Frost #3.
- Taking on: Giving up alcohol for Lent.
- Dragging on: Doing my taxes.
- Spring Cleaning: The side office.
- Trying to Ignore: The huge pile of blogposts left over from GDC and CA.
- Caring For: My cat Lenora, suffering from cancer.
- Waiting For: My wife Sandi, returning from a business trip.
So, when I say "I teach robots to learn" ... that's what I do. -the Centaurhttps://arxiv.org/abs/1710.03937 PRM-RL: Long-range Robotic Navigation Tasks by Combining Reinforcement Learning and Sampling-based Planning
We present PRM-RL, a hierarchical method for long-range navigation task completion that combines sampling-based path planning with reinforcement learning (RL) agents. The RL agents learn short-range, point-to-point navigation policies that capture robot dynamics and task constraints without knowledge of the large-scale topology, while the sampling-based planners provide an approximate map of the space of possible configurations of the robot from which collision-free trajectories feasible for the RL agents can be identified. The same RL agents are used to control the robot under the direction of the planning, enabling long-range navigation. We use the Probabilistic Roadmaps (PRMs) for the sampling-based planner. The RL agents are constructed using feature-based and deep neural net policies in continuous state and action spaces. We evaluate PRM-RL on two navigation tasks with non-trivial robot dynamics: end-to-end differential drive indoor navigation in office environments, and aerial cargo delivery in urban environments with load displacement constraints. These evaluations included both simulated environments and on-robot tests. Our results show improvement in navigation task completion over both RL agents on their own and traditional sampling-based planners. In the indoor navigation task, PRM-RL successfully completes up to 215 meters long trajectories under noisy sensor conditions, and the aerial cargo delivery completes flights over 1000 meters without violating the task constraints in an environment 63 million times larger than used in training.
Welp, that was anticlimactic! Thanks, God, for a smooth update to WordPress 4.7.3! (And thanks to the WordPress team for maintaining backwards compatibility). And hey, look - the Library has close to 1,000 posts!
Expect major site updates in the months to come, as WordPress’s Themes and Pages now enable me to do things I could only formerly do with static pages and hand-coded pages, and it will all be backed up easier thanks to WordPress’s Jetpack plugin.
The things you learn helping other people with their web sites ….
-the Centaur
Welp, it’s time: I’ve backed up the Library of Dresan three ways to Sunday, said a prayer … and now am planning to upgrade WordPress from 3.0.1-alpha-15359 to 4.7.3. I know that’s 1.7.2 full version numbers, but it’s been too long, and there are too many new features I need, so … time to press the button.
God, please help me! Everyone else, your prayers, please.
Lots of great content …
... and this year I have pages and pages of notes!
Stay tuned …
... or check the talks out in a few weeks on the GDC Vault!
-the Centaur
At long last, Jeremiah Willstone and the Clockwork Time Machine, my fourth published novel, is OUT in the world! You can get it wherever fine books are sold:
- Amazon: http://amzn.to/2lFYyoY
- Kobo: http://bit.ly/2ld3m1T
- Barnes and Noble: http://bit.ly/2lLRS9m
- Google: http://bit.ly/2mhT3uK
The Clockwork Time Machine tells the story of Jeremiah Willstone, a female adventurer from an alternate world called Victoriana, where, because women’s liberation happened a century early and twice as many brains ended up working on hard problems, science has advanced more in 1908 than it has in our world today - but inadvertently, these scientific advances attracted the attention of aliens called Foreigners, who have come calling to make this world their own!
When Jeremiah’s treacherous uncle steals a dangerous alien weapon and secrets it away on an airship to a possibly hostile shore, Jeremiah leads a strike team to retrieve it - and finds herself chasing him across the seas of time itself, with her uncle just possibly aiming to upend the entire world order she holds dear! With time running out, Jeremiah must sacrifice everything she is to save everyone she loves.
Enjoy!
-the Centaur
For those wondering what I’ve been up to for the last six months, the biggest thing is THIS …
At long last, JEREMIAH WILLSTONE AND THE CLOCKWORK TIME MACHINE is coming to print! We’ll be picking the actual release date in the next few days, but I can’t think of a better gift for my birthday than seeing the cover of my new novel!
Here’s a sneak peek at the back cover blurb:
From an Epic Award winning author comes a sprawling tale of brass buttons, ray guns, and two-fisted adventure!
In an alternate empire filled with mechanical men, women scientists and fantastic contraptions powered by steam, a high ranking officer in the Victoriana Defense League betrays his country when he steals an airship and awakens an alien weapon that will soon hatch into a walking factory of death.
Commander Jeremiah Willstone and her team must race through time in a desperate bid to stop the traitor's plan to use the alien weapon to overthrow the world's social order. With time running out, Jeremiah may have to sacrifice everything she is to save everyone she loves.
"Addictive, sassy, sexy, funny, intense, brilliant." -Bitten By Books, on Frost Moon
Epic Award winner Anthony Francis writes the Dakota Frost, Skindancer series and Jeremiah Willstone series while working on robots for "the Search Engine Which Starts with a 'G'."
Prevail, Victoriana!
-the Centaur
Welcome to the future, ladies and gentlemen. Here in the future, the obscure television shows of my childhood rate an entire section in the local bookstore, which combines books, games, music, movies, and even vinyl records with a coffeehouse and restaurant.
Here in the future, the heretofore unknown secrets of my discipline, artificial intelligence, are now conveniently compiled in compelling textbooks that you can peruse at your leisure over a cup of coffee.
Here in the future, genre television shows play on the monitors of my favorite bar / restaurant, and the servers and I have meaningful conversations about the impact of robotics on the future of labor.
And here in the future, Monty Python has taken over the world.
Perhaps that explains 2016.
-the Centaur
I’ve been going to conventions for about thirty-five years, but have appeared on panels only in the last ten, and even that only consistently for the last five - so I still feel like a fanboy up with all the more experienced authors. And while sometimes I have a lot to contribute, I often find it’s better not to ask whether I have something to say, but whether I have something to add. It’s frankly awesome to be up here with luminaries like John Ringo or Esther Friesner, and it’s often just best to to sit back and listen - but even then, don’t give up on yourself. I was on three panels today with more experienced people, and I made sure I both shut up and listened and stepped up and said something at the appropriate time - with the result being that several people came up to me and thanked me for my contribution to the panels that I’d been on. Several of the authors got together afterward, and we all seemed to think that it was our interactions with each other that made the panels great. So … think of what you can add, but never give up on your own unique contribution. It’s there, you just have to find it.
Pictured: the forward and reverse angle on viewer for a panel on “101 ways to kill a character” which I was on with John Ringo, who chose just the moment I took my selfie to lean over and ask someone a question.
-the Centaur
- You’ve Sold the First Book, Now What? Saturday 10am, Embassy CD – Hyatt What happens next? Publishing professionals offer information about the industry–what they’re going to do, and what you need to do for yourself.
- Writing a Synopsis That Will Sell Your Book – MODERATOR Saturday 2:30pm, Embassy CD – Hyatt Writing a great synopsis may be harder than writing a book. These outliners and pantsers will offer suggestions to make the process easier.
- 101 Fascinating Ways to Kill off a Character Saturday 10pm, Embassy CD – Hyatt Description: Our favorite writers recount some of the more interesting ways they’ve eliminated characters–or tried to.