Posts tagged as “We Call It Living”
“The Ere Mother is … not the most dangerous enemy I’ve ever faced,” I says. “Actually, she doesn’t rate really highly compared to the thing we found in the Vault of Nightmares, which was the real source of the magic that tried to burn down this city, Lady Scara—not me. But the Ere Mother is terribly dangerous, that I admit, Magus Meredith, Elder Jackson-Monarch. She’s terribly dangerous. But I did not ‘unleash’ her on the city. I went where my leadership told me to go and did what they told me to do, and the bottom dropped out under me. Yes, she came to life when I fell into the chambers of her court, but I strongly doubt that she was brought to life by a magic tiger butt. As unstable as that structure was—and it was still subsiding from time to time—the Ere Mother could have been unleashed at anytime, and we’d know even less about her than we do because I was down there investigatin’—as you all asked me to.” I stands there, quietly. “OH!” I says. “Um, yeah. That’s … that’s my report.” “Well,” Mom says. “Thank you, First Mage, for your testimony—” “Chair Frost?” Meredith says, raising his hand politely. “Are questions allowed?” Mom blinks. “Always, as long as we maintain order. You have the floor.” “Shoot,” I says. “Not literally—” “How do you know the structure was still subsiding?” asked Meredith. I stares at him. The hair rises on the back of my head. I thinks very, very fast. “I heard it from the remaining member of the Dire Court,” I says. “A fox changeling, er, proto-fox changeling, at least I assume it was a changeling—er, anyway, we spoke, briefly, before the Ere Mother attacked. He mentioned a subsidence that, um.” “Yes?” Meredith says, eyes gleaming. “That, ah, uncovered his eye, so he wasn’t stuck in the dark anymore,” I says quietly. Meredith’s face falls, with true horror. “There was light down there, from runes. But after the Ere Mother’s attack … I don’t think there’s anything left of the fox fae anymore.” “That’s … horrible,” Meredith says. “Do you remember what else you spoke about?” “I will try to reconstruct a transcript. Mostly, he said shit like, ‘Oh, God’, and ‘Don’t hurt me.’” Somebody laughs, and I idly turns towards them and says, “Hey, I was pretty scared. You wanna be pretty scared to, I can always Change into what I looked like down there.” “Cinnamon Stray Foundling Frost,” Mom says sternly, “if you eat anyone at this Council, you’re grounded!” “Yes, Mom,” I says.Ah, Cinnamon. You and your wacky hijinks with ancient faerie changelings! Now ... zzzzz... -the Centaur
- 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.
- 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.
The first challenge was easy—spirit. Awareness. Being aware of faerie. The second challenge was harder—mind. Intellect. Learnin’ the logic of faerie. The third challenge was the hardest of all. Body. Emotion. Feeling faerie in your bones. A huge cacklin’ thing bursts out of the water. Its head is as big as Krishna’s, a huge green dripping thing under a mass of hair, its wide smooth but mottled nose remindin’ me of a diseased muppet. We can’t see the thing’s eyes, but its arms loom around us. Ben and Surrey screams. “Do you care?” it screams, openin’ a maw filled with giant teeth the size of playing cards. I think it could swallow any of us whole. “Do you care if you diieie?” “Aaaah!” Benjamin and Surrey screams. “We care! We care!” The thing looms further forward. “Then flee, mortals, or you may perish here!” “Don’t flee,” I murmurs. “Or you may perish elsewhere—” “We—we will not flee,” Surrey cries. “For we may perish elsewhere,” Benjamin says with sudden insight. Did he hear me? “But stay here, and death will be certain, mortals!” the thing cries, loomin’ over them. “Stay anywhere, and death is certain, for mortals!” Benjamin cries. “And you don’t care if you die,” I murmurs into Surrey’s ear. “And we don’t care if we die,” Surrey says. “What? Ci—” “Surely death comes to all mortals,” Benjamin says. “Why should we care?” “I could make death hurt,” the thing cries, stretchin’ its arms out like a giant Muppet. “Or we could die in our sleep,” I murmurs. “But I can make death hurt him more.”I actually have practically finished BOT NET, so next up is Cinnamon Frost #3, ROOT USER! Oh, and editing Dakota Frost #4, SPECTRAL IRON! Due in about 4-5 months. Aaaaaaa! Onward! -the Centaur
So now things are back on track for the month, and I'm smack in the middle of where I normally am this time of Nano ... Actually, it appears I'm ahead. Checking the stats ... yep. At this point, I'm normally just shy of 6,000 words behind ( -5,984, though that estimate is numerically precise, it is not likely to be meaningfully accurate ) but today I am 169 words ahead of the Nano wordcount: I'm one more thing too: 200,000 words into the Cinnamon Frost trilogy. There are 3 published Dakota Frost novels: FROST MOON, BLOOD ROCK and LIQUID FIRE, and three more finished rough drafts: SPECTRAL IRON, PHANTOM SILVER, and SPIRITUAL GOLD. By my count, I've written about 900,000 words about Dakota Frost, Skindancer, the woman who can bring her tattoos to life. But in one sense, that's expected: I planned Dakota. I wanted to write a character that other people who can relate to. Cinnamon Frost, as I've said before, is a character I never expected. She shoved her way into the Dakota Frost universe, in one of those "step off into space moments", and she shows no signs of leaving. Cinnamon might say 200,000 seems significant because of how humans process patterns - how we love all those zeroes - but it's just a number: 2*10*10*10*10*10. But somehow, it feels right to take it this far, and I look forward to writing the next 100,000 to 150,000 words that will finish her trilogy and give her a chance to live her own literary life. Time to get back to it. -the Centaur P. S. I said milestones are coming. If you've read closely in this post, you'll realize another milestone is coming soon. Stay tuned ...It's all too easy for stories to fall in predictable ruts - but in #NaNoWriMo , when you've got to produce 50,000 words in a month, sometimes your story "goes off the rails" into territory your conscious mind never expected ... and that's gold! https://t.co/Qmtuzb1XKE
— Anthony Francis (@xenotaur) November 13, 2017
DD: Do you have any one bit of advice for aspiring writers? AF: Write. Just write. Don’t worry about perfection, or getting published, or even about pleasing anyone else: just write. Write to the end of what you start, and only then worry about what to do with it. In fact, don’t even worry about finishing everything—don’t be afraid to try anything. Artists know they need to fill a sketchbook before sitting down to create a masterwork, but writers sometimes get trapped trying to polish their first inspiration into a final product. Don’t get trapped on the first hill! Whip out your notebook and write. Write morning pages. Write diary at the end of the day. Write a thousand starts to stories, and if one takes flight, run with it with all the abandon you have in you. Accept all writing, especially your own. Just write. Write.That's it. To read more, check out the interview here, or see all my Daily Dragon mentions at Dragon Con here, or check out my interviewer Nancy Northcott's site here. Onward! -the Centaur
This Memorial Day Weekend, I’ll be appearing at the Clockwork Alchemy steampunk convention! I’m on a whole passel of panels this year, including the following (all in the Monterey room near the Author’s Alley, as far as I know):
Friday, May 26
4PM: NaNoWriMo - Beat the Clock! [Panelist]Saturday, May 27
12NOON: Working with Editors [Panelist]
1PM: The Science of Airships [Presenter]
5PM: Versimilitude in Fiction [Panelist]Sunday, May 28
10AM: Applied Plotonium [Panelist]
12NOON: Organizing an Anthology [Panelist]
1PM: Instill Caring in Readers [Panelist]
2PM: Overcoming Writer's Block [Presenter]Monday, May 29
11AM: Past, Present, Future - Other! [Moderator]
Of course, if you don’t want to hear me yap, there are all sorts of other reasons to be there. Many great authors will be in attendance in the Author’s Alley:
There’s a great dealer’s room and a wonderful art show filled with steampunk maker art:
For yet another more year, we’ll be co-hosted with Fanime Con, so there will be buses back and forth and fans of both anime and steampunk in attendance:
As usual, I will have all my latest releases, including Jeremiah Willstone and the Clockwork Time Machine, the steampunk novel I have like been promising you all like for ever!
In addition to my fine books, there will also be new titles from Thinking Ink Press, including the steampunk anthologies TWELVE HOURS LATER, THIRTY DAYS LATER, and SOME TIME LATER!
I think I have about as much fun at Clockwork Alchemy as I do at Dragon Con, and that’s saying something. So I hope you come join us, fellow adventurers, in celebrating all things steampunk!
-the Centaur