Algorithm

In mathematics and computer science, an algorithm ( ) is a finite sequence of mathematically rigorous instructions, typically used to solve a class of specific problems or to perform a computation. Algorithms are used as specifications for performing calculations and data processing. More advanced algorithms can use conditionals to divert the code execution through various routes (referred to as automated decision-making) and deduce valid inferences (referred to as automated reasoning). In contrast, a heuristic is an approach to solving problems without well-defined correct or optimal results. For example, although social media recommender systems are commonly called "algorithms", they actually rely on heuristics as there is no truly "correct" recommendation. As an effective method, an algorithm can be expressed within a finite amount of space and time and in a well-defined formal language for calculating a function. Starting from an initial state and input, a computation occurs at each step, eventually producing output and terminating. The transition between states can be non-deterministic; randomized algorithms incorporate random input. == Etymology == Around 825 AD, Persian scientist and polymath Muḥammad ibn Mūsā al-Khwārizmī wrote kitāb al-ḥisāb al-hindī ("Book of Indian computation") and kitab al-jam' wa'l-tafriq al-ḥisāb al-hindī ("Addition and subtraction in Indian arithmetic"). In the early 12th century, Latin translations of these texts involving the Hindu–Arabic numeral system and arithmetic appeared, for example Liber Alghoarismi de practica arismetrice, attributed to John of Seville, and Liber Algoritmi de numero Indorum, attributed to Adelard of Bath. Here, alghoarismi or algoritmi is the Latinization of Al-Khwarizmi's name; the text starts with the phrase Dixit Algoritmi, or "Thus spoke Al-Khwarizmi". The word algorism in English came to mean the use of place-value notation in calculations; it occurs in the Ancrene Wisse from circa 1225. By the time Geoffrey Chaucer wrote The Canterbury Tales in the late 14th century, he used a variant of the same word in describing augrym stones, stones used for place-value calculation. In the 15th century, under the influence of the Greek word ἀριθμός (arithmos, "number"; cf. "arithmetic"), the Latin word was altered to algorithmus. By 1596, this form of the word was used in English, as algorithm, by Thomas Hood. == Definition == One informal definition is "a set of rules that precisely defines a sequence of operations", which would include all computer programs, and any bureaucratic procedure or cook-book recipe. In general, a program is an algorithm only if it stops eventually. Formally, algorithm is an explicit set of instructions to produce an output, that can be followed by a computer or a human performing specific operations on symbols.. == History == === Ancient algorithms === Step-by-step procedures for solving mathematical problems have been recorded since antiquity. This includes in Babylonian mathematics (around 2500 BC), Egyptian mathematics (around 1550 BC), Indian mathematics (around 800 BC and later), the Ifa Oracle (around 500 BC), Greek mathematics (around 240 BC), Chinese mathematics (around 200 BC and later), and Arabic mathematics (around 800 AD). The earliest evidence of algorithms is found in ancient Mesopotamian mathematics. A Sumerian clay tablet found in Shuruppak near Baghdad and dated to c. 2500 BC describes the earliest division algorithm. During the Hammurabi dynasty c. 1800 – c. 1600 BC, Babylonian clay tablets described algorithms for computing formulas. Algorithms were also used in Babylonian astronomy. Babylonian clay tablets describe and employ algorithmic procedures to compute the time and place of significant astronomical events. Algorithms for arithmetic are also found in ancient Egyptian mathematics, dating back to the Rhind Mathematical Papyrus c. 1550 BC. Algorithms were later used in ancient Hellenistic mathematics. Two examples are the Sieve of Eratosthenes, which was described in the Introduction to Arithmetic by Nicomachus, and the Euclidean algorithm, which was first described in Euclid's Elements (c. 300 BC).Examples of ancient Indian mathematics included the Shulba Sutras, the Kerala School, and the Brāhmasphuṭasiddhānta. In the 9th century, Muḥammad ibn Mūsā al-Khwārizmī revolutionized the field by establishing the algorithm as a systematic, finite sequence of logical steps to solve mathematical problems. In his influential work, The Compendious Book on Calculation by Completion and Balancing, he moved beyond specific numerical solutions to introduce general procedures for algebraic reduction and balancing. This transformed mathematics into a 'mechanical' process of well-defined rules—a fundamental shift that laid the groundwork for modern algorithmic theory. The Latin translation of his arithmetic treatise, titled Algoritmi de numero Indorum, led to the term algorithm being derived from the Latinization of his name, Algoritmi, specifically to describe this new rule-based approach to mathematics. The first cryptographic algorithm for deciphering encrypted code was developed by Al-Kindi, a 9th-century Arab mathematician, in A Manuscript On Deciphering Cryptographic Messages. He gave the first description of cryptanalysis by frequency analysis, the earliest codebreaking algorithm. === Computers === ==== Weight-driven clocks ==== Weight-driven clocks were a key European invention in Middle Ages, specifically the verge escapement mechanism producing the tick of mechanical clocks. Accurate automatic machines led to mechanical automata in the 13th century and computational machines—the difference and analytical engines of Charles Babbage and Ada Lovelace in the mid-19th century. Lovelace designed the first algorithm intended for a computer, Babbage's analytical engine, the first real Turing-complete computer, more than the mechanical calculators of the time. Although the full implementation of Babbage's second device was only built decades after her lifetime, Lovelace has been called "history's first programmer". ==== Electromechanical relay ==== The Jacquard loom, a precursor to punch cards, and telephone switching machines led to the development of the first computers. By the mid-19th century, the telegraph, was in use throughout the world. By the late 19th century, ticker tape (c. 1870s) and punch cards (c. 1890) were developed. Then came the teleprinter (c. 1910) with its punched-paper use of Baudot code on tape. Telephone-switching networks of electromechanical relays were invented in 1835. These led to the invention of the digital adding device by George Stibitz in 1937. While working in Bell Laboratories, he observed the "burdensome" use of mechanical calculators with gears, prompting him to experiment create an experimental digital adder at home. === Formalization === In 1928, a partial formalization of the modern concept of algorithms began with attempts to solve David Hilbert's Entscheidungsproblem (decision problem). Later formalizations were framed as attempts to define "effective calculability" or "effective method". Those formalizations included the Gödel–Herbrand–Kleene recursive functions of 1930, 1934 and 1935, Alonzo Church's lambda calculus of 1936, Emil Post's Formulation 1 of 1936, and Alan Turing's Turing machines of 1936–37 and 1939. === Modern Algorithms === For decades, it was assumed that algorithm evolution progresses from heuristics to formal algorithms. A Symbolic integration provides a classic illustration. In 1961, James Slagle’s program SAINT used heuristics to solve 52 of 54 freshman calculus exercises from an MIT textbook (≈96%). In 1967, Larry Moses’s SIN refined the heuristics and achieved 100% success, though it remained heuristic. Finally, in 1969, Robert Risch introduced the Risch Algorithm with formal guarantees. This trajectory defined the traditional path: heuristics evolving until a definitive, guaranteed algorithm emerged. However, the rise of transformer-based AI has inverted this sequence — classical algorithms are now being displaced by heuristics once again. Algorithms have evolved and improved in many ways as time goes on. Common uses of algorithms today include social media apps like Instagram and YouTube. Algorithms are used as a way to analyze what people like and push more of those things to the people who interact with them. Quantum computing uses quantum algorithm procedures to solve problems faster. More recently, in 2024, NIST updated their post-quantum encryption standards, which includes new encryption algorithms to enhance defenses against attacks using quantum computing. == Representations == Algorithms can be expressed in many kinds of notation, including natural languages, pseudocode, flowcharts, drakon-charts, programming languages or control tables. Natural language expressions of algorithms tend to be verbose and ambiguous and are rarely used for complex or technical algor

Alibaba Cloud

Alibaba Cloud, also known as Aliyun (Chinese: 阿里云; pinyin: Ālǐyún; lit. 'Ali Cloud'), is a cloud computing company, a subsidiary of Alibaba Group. Alibaba Cloud provides cloud computing services to online businesses and Alibaba's own e-commerce ecosystem. Its international operations are registered and headquartered in Singapore. Alibaba Cloud offers cloud services that are available on a pay-as-you-go basis, and include elastic compute, data storage, relational databases, big-data processing, DDoS protection and content delivery networks (CDN). It is the largest cloud computing company in China, and in Asia Pacific according to Gartner. Alibaba Cloud operates data centers in 29 regions and 87 availability zones around the globe. As of June 2017, Alibaba Cloud is placed in the Visionaries' quadrant of Gartner's Magic Quadrant for cloud infrastructure as a service, worldwide. == History == Alibaba Cloud was founded in September 2009, and R&D centers and operation centers were opened in Hangzhou, Beijing, and Silicon Valley. === 2010–2013 === In November 2010, the company supported the first Single's Day (11.11) Taobao shopping festival, with 2.4 billion PageViews (PV) in 24 hours. Two years later, in November 2012, it became the first Chinese cloud service provider to pass ISO27001:2005 (Information Security Management System). In January 2013, Alibaba Cloud merged with HiChina (founded by Xiangning Zhang) for the www.net.cn business as one of the largest acquisitions in the company's history at the time. In August of that year, ApsaraDB architecture supported 5000 physical machines in a single cluster. === 2014–2017 === The company's Hong Kong data center went online in May 2014, and in December of that year, Alibaba Cloud defended a 14-hour-long DDoS attack, peaking at 453.8 Gbit/s. In July 2015, the Alibaba Group invested US$1 billion in Alibaba Cloud. A month later, Alibaba Cloud's first Singapore data center opened, and Singapore was announced as Alibaba Cloud's overseas headquarters. Two US data centers went online in October 2015, and that same month MaxCompute took the lead in the Sort Benchmark, sorting 100 TB data in 377s compared with Apache Spark's previous record of 1406s. The Alibaba Cloud Computing Conference was also held in October 2015 in Hangzhou and attracted over 20,000 developers. A month later, in November, the company supported the 11.11 shopping festival with a record of $14.2 billion transactions in 24 hours. Alibaba Cloud partnered with SK Holdings C&C in April 2016 to provide cloud services to Korean and Chinese companies. A month later, the company formalized a joint venture with SoftBank to launch cloud services in Japan that utilize technologies and solutions from Alibaba Cloud. In June 2016, Alibaba Cloud expanded its data center operations in Singapore with the establishment of a second availability zone. Alibaba Cloud also achieved two new certifications overseas: Singapore Multi-Tier Cloud Security (MTCS) standard Level 3, and the Payment Card Industry Three-Domain Secure (PCI 3DS). The company partnered with Vodafone Germany in November 2016 for Data Center operations and to provide cloud services to German and European companies. Alibaba became the official cloud services provider of the Olympics in January 2017. A month later, in February, the company became a founding Member of the EU Cloud Code of Conduct. In June 2017, Alibaba Cloud was placed in the Visionaries quadrant of Gartner's Magic Quadrant for Cloud Infrastructure as a Service, Worldwide. Alibaba Cloud partnered with Malaysia's Fusionex in September 2017 to provide cloud solutions in Southeast Asia, and the Malaysia data center commenced operations in October. That same month, the company partnered with Elastic and launched a new service called Alibaba Cloud Elasticsearch. Alibaba Cloud India data center commenced operations in December 2017. In addition, Alibaba Cloud received the C5 standard certification from the German Federal Office for Information Security (BSI) for its data centers in Germany and Singapore. === 2018–2021 === In February 2018, Alibaba Cloud's Indonesia data center commenced operations. The company's first data center opening in the Philippines in June 2021. Alibaba Cloud unveiled the ARM-based Yitian 710 chip, designed in-house, for use in its data centers in October 2021. On November 24, 2021, the bug Log4Shell was disclosed to Apache by Chen Zhaojun of Alibaba Cloud's Security Team. On December 22, 2021, the Chinese Ministry of Industry and Information Technology suspended a partnership with Alibaba Cloud for "failure in reporting cybersecurity vulnerabilities" related to the Log4Shell bug. === 2022 === In September 2022, Alibaba Cloud announced a $1 billion pledge to upgrade its global partner ecosystem. == Data center regions == Alibaba Cloud has 25 regional data centres globally. The Data Center in Germany is operated by Vodafone Germany (Frankfurt) and certified with C5. == Products == Alibaba Cloud provides cloud computing IaaS, PaaS, DBaaS and SaaS, including services such as e-commerce, big data, Database, IoT, Object storage (OSS), Kubernetes and data customization which can be managed from Alibaba web page or using aliyun command line tool. AnalyticDB was first released in May 2018, and the latest version 3.0 was released in 2019. On April 26, 2019, TPC published TPC-DS benchmark result of AnalyticDB. In 2019, a paper about the system design of AnalyticDB was published in VLDB conference 2019. == Academic partners == List of academic alliances: Shanghai Jiao Tong University Universiti Tunku Abdul Rahman (UTAR) University of Malaya Hong Kong Shue Yan University Macao University of Science and Technology Singapore University of Social Sciences (SUSS) Télécom Paris SUPINFO International University Université de technologie sino-européenne de l'université de Shanghai Gadjah Mada University Universitas Prasetiya Mulya Bina Nusantara University Krida Wacana Christian University Hong Kong Institute of Vocational Education Nanyang Polytechnic Republic Polytechnic Sekolah Tinggi Teknologi Informasi NIIT Usman Institute of Technology AISSMS Institute of Information Technology == Controversy == On October 26, 2016, Zhang Kai, CEO of ITHome issued an announcement stating he could no longer tolerate Alibaba Cloud's overselling and service interruption issues, and had migrated the hosting entirely to Baidu Cloud. Alibaba Cloud subsequently issued an apology letter, but indirectly mentioned that website performance should consider system architecture and avoid single-point design.

Micah Xavier Johnson

Micah Xavier Johnson (July 2, 1991 – July 8, 2016) was an American Army reserve Afghan war veteran, black nationalist, and mass murderer who perpetrated the 2016 shooting of Dallas police officers during a Black Lives Matter protest. He ambushed and killed five officers and wounded eleven others in Downtown, Dallas, Texas. He was killed by police during a standoff after expressing anger over police killings of black men. The shootings were the second-deadliest targeted attack on law enforcement officers in U.S. history, surpassed only by the September 11 attacks. == Early life == Micah Xavier Johnson was born in Magee, Mississippi, on July 2, 1991, and he was raised in Mesquite, Texas. When he was four years old, his parents divorced. At 17, Johnson enrolled at John Horn High School, where he joined the Junior Reserve Officers' Training Corps, as reported by the Mesquite Independent school district. He faced academic challenges, graduating in 2009 with a 1.98 GPA and ranking 430th out of 453 students in his class. In Spring 2011, Johnson registered for four courses at Richland college but did not complete any. Evidence suggests his enrollment at Richland gave him access to El Centro College, due to his pre-planned and coordinated movements throughout Building B during his standoff with police in 2016. == Military service == === Enlistment and early service === Micah Xavier Johnson enlisted in the U.S. Army Reserve in March 2009 at the age of 18, shortly after graduating high school in Mesquite, Texas. His initial service was primarily stateside, where he trained as a carpentry and masonry specialist (military occupational specialty 51B). This role involved engineering tasks such as construction and repair in support of military operations. During his reserve tenure, Johnson served part-time while living at home, and he was described by family and friends as initially idealistic about the military, even aspiring to become a police officer. === Deployment to Afghanistan === In September 2013, Johnson was activated for full-time duty and deployed to Afghanistan as part of the 420th Engineer Brigade, a unit based in Seagoville, Texas. His tour began in November 2013 and lasted approximately eight months, ending in July 2014. During this period, he performed non-combat engineering duties, though the stresses of serving in a combat zone were noted by those close to him. Associates from his service later suggested he experienced significant psychological strain, including the loss of friends and general disillusionment with military life, which contrasted with his pre-deployment enthusiasm. His mother later reflected that "the military was not what Micah thought it would be." === Sexual harassment allegation and early return === About six months into his deployment, in May 2014, Johnson faced a serious accusation of sexual harassment from a higher-ranking female soldier. She filed for a military protective order against him, prompting an investigation. As a result, his chain of command recommended an "other than honorable" discharge—the second (more severe is a dishonorable discharge, which does not require a court martial) most severe administrative separation short of a court-martial—and he was sent back to the United States ahead of schedule. Despite this, Johnson was not court-martialed, and the case did not lead to criminal charges. A military lawyer who represented him described the handling as unusual, noting that "someone really screwed up" in allowing him to avoid harsher consequences. === Post-deployment and discharge === Upon returning stateside in August 2014, Johnson resumed reserve duties with his engineering brigade until April 2015. He was honorably discharged at the rank of private first class (E-3), a relatively low junior enlisted rank after six years of service, which military sources attributed partly to the unresolved harassment allegation impacting his promotions and evaluations. Friends and family observed a marked change in his demeanor post-deployment: he became more reclusive, resentful toward the government, and withdrawn, with some speculating that the Afghanistan experience and the scandal contributed to a "small breakdown." In July 2016, following the Dallas shooting, the U.S. Army launched an internal review of his service record, including the harassment claims, to assess whether all misconduct allegations had been fully investigated. == Shootings == On July 7, 2016, a peaceful Black Lives Matter protest marched through downtown Dallas, Texas, drawing about 800 demonstrators. The event responded to the recent police killings of Alton Sterling in Baton Rouge, Louisiana, on July 5, and Philando Castile in Falcon Heights, Minnesota, on July 6—both black men shot during encounters captured on video. Around 100 officers monitored the march, which passed near El Centro College without incident until gunfire erupted around 8:45 p.m. Johnson arrived in a dark SUV, armed with an SKS semi-automatic rifle, a handgun, extra ammunition, and ballistic vests. He parked near the protest's end, chatted briefly with two officers, then opened fire on police from an elevated position on Lamar Street (now Botham Jean Boulevard). He shot from behind barriers, through windows, and while moving, targeting white officers specifically. The ambush killed five officers and wounded seven more, plus two civilians. Gunfire scattered protesters in panic as Johnson used military-style tactics, like quick position changes, to prolong the assault. === Standoff and Johnson's end === Johnson fled into El Centro College's Building C, then Building B, navigating pre-planned routes with familiarity from prior enrollment at nearby Richland College. He barricaded in a parking garage, wounding more officers in close-range fights. During two-hour negotiations, he taunted police via phone—laughing, singing, asking kill counts, and claiming planted bombs (none found). He admitted solo action, rage at White officers, and no group ties. At 2:30 a.m. on July 8, SWAT ended the standoff by detonating a bomb via remote-controlled robot in the garage, killing Johnson. This marked the first U.S. police use of such a tactic. === Victims and investigation findings === The slain officers were: Brent Thompson (Transit Authority, 36), Patrick Zamarripa (Dallas PD, 33), Michael Krol (Dallas PD, 40), Lorne Ahrens (Dallas PD, 48), and Michael Smith (Dallas PD, 55). Wounded officers included Sheik Smith, John Mitchell, and others; civilians She Tamara El-Sobky and Hillary Castro. Searches of Johnson's home revealed bomb-making materials, rifles, vests, and notes on tactics, suggesting plans for a larger attack. He had practiced explosions and honed skills post-discharge, including marksmanship. === Aftermath and impact === Dallas mourned with vigils and memorials, while national protests against police violence continued amid grief. President Barack Obama, the first African American president of the United States, called Johnson a "demented individual" and formed a task force on race and policing. The incident fueled debates on gun control, race relations, and veteran mental health—Johnson had sought VA treatment for stress and anxiety but showed no prior violent signs to friends. El Centro College canceled all classes on July 8. Police barricaded the perimeter and began canvassing the crime scene. The explosion that killed Johnson also destroyed the school's servers, further delaying reopening. The school partially reopened on July 20, with staff returning that day and students on the following day. Buildings A, B, and C remained closed pending the FBI investigation. == Motive == An investigation into his online activities uncovered his interest in black nationalist groups. The Southern Poverty Law Center (SPLC), and news outlets reported that Johnson "liked" the Facebook pages of black nationalist organizations such as the New Black Panther Party (NBPP), Nation of Islam, and Black Riders Liberation Party, three groups which are listed by the SPLC as hate groups. On Facebook, Johnson posted an angry and "disjointed" post against White people on July 2, several days before the attack. NBPP head Quanell X said after the shooting that Johnson had been a member of the NBPP's Houston chapter for about six months, several years before. Quanell X added that Johnson had been "asked to leave" the group for violating the organization's "chain of command" and espousing dangerous rhetoric, such as asking the NBPP why they had not purchased more weapons and ammunition, and expressing his desire to harm black church preachers because he believed they were more interested in money than God. Following the shooting, a national NBPP leader distanced the group from Johnson, saying that he "was not a member of" the party. Further investigation into his digital footprint showed that Johnson visited the sites of Marxist Leninist groups associated with "Revolutionary Black Nationalism",

DARPA Grand Challenge

The DARPA Grand Challenge is a prize competition for American autonomous vehicles, funded by the Defense Advanced Research Projects Agency, the most prominent research organization of the United States Department of Defense. Congress has authorized DARPA to award cash prizes to further DARPA's mission to sponsor revolutionary, high-payoff research that bridges the gap between fundamental discoveries and military use. The initial DARPA Grand Challenge in 2004 was created to spur the development of technologies needed to create the first fully autonomous ground vehicles capable of completing a substantial off-road course within a limited time. The third event, the DARPA Urban Challenge in 2007, extended the initial Challenge to autonomous operation in a mock urban environment. The 2012 DARPA Robotics Challenge, focused on autonomous emergency-maintenance robots, and new Challenges are still being conceived. The DARPA Subterranean Challenge was tasked with building robotic teams to autonomously map, navigate, and search subterranean environments. Such teams could be useful in exploring hazardous areas and in search and rescue. In addition to the challenges in autonomous technology, DARPA has also conducted prize competitions in other areas of technology. == History and background == Fully autonomous vehicles have been an international pursuit for many years, from endeavors in Japan (starting in 1977), Germany (Ernst Dickmanns and VaMP), Italy (the ARGO Project), the European Union (EUREKA Prometheus Project), the United States of America, and other countries. DARPA funded the development of the first fully autonomous robot beginning in 1966 with the Shakey the robot project at Stanford Research Institute, now SRI International. The first autonomous ground vehicle capable of driving on and off roads was developed by DARPA as part of the Strategic Computing Initiative beginning in 1984 leading to demonstrations of autonomous navigation by the Autonomous Land Vehicle and the Navlab. The Grand Challenge was the first long distance competition for driverless cars in the world; other research efforts in the field of driverless cars take a more traditional commercial or academic approach. The U.S. Congress authorized DARPA to offer prize money ($1 million) for the first Grand Challenge to facilitate robotic development, with the ultimate goal of making one-third of ground military forces autonomous by 2015. Following the 2004 event, Dr. Tony Tether, the director of DARPA, announced that the prize money had been increased to $2 million for the next event, which was claimed on October 9, 2005. The first, second and third places in the 2007 Urban Challenge received $2 million, $1 million, and $500,000, respectively. 14 new teams have qualified in year 2015. The competition was open to teams and organizations from around the world, as long as there was at least one U.S. citizen on the roster. Teams have participated from high schools, universities, businesses and other organizations. More than 100 teams registered in the first year, bringing a wide variety of technological skills to the race. In the second year, 195 teams from 36 U.S. states and 4 foreign countries entered the race. == 2004 Grand Challenge == The first competition of the DARPA Grand Challenge was held on March 13, 2004 in the Mojave Desert region of the United States, along a 150-mile (240 km) route that follows along the path of Interstate 15 from just before Barstow, California to just past the California–Nevada border in Primm. None of the robot vehicles finished the route. Carnegie Mellon University's Red Team and car Sandstorm (a converted Humvee) traveled the farthest distance, completing 11.78 km (7.32 mi) of the course before getting hung up on a rock after making a switchback turn. No winner was declared, and the cash prize was not given. Therefore, a second DARPA Grand Challenge event was scheduled for 2005. == 2005 Grand Challenge == The second competition of the DARPA Grand Challenge began at 6:40 am on October 8, 2005. All but one of the 23 finalists in the 2005 race surpassed the 11.78 km (7.32 mi) distance completed by the best vehicle in the 2004 race. Five vehicles successfully completed the 212 km (132 mi) course: Vehicles in the 2005 race passed through three narrow tunnels and negotiated more than 100 sharp left and right turns. The race concluded through Beer Bottle Pass, a winding mountain pass with a sheer drop-off on one side and a rock face on the other. Although the 2004 course required more elevation gain and some very sharp switchbacks (Daggett Ridge) were required near the beginning of the route, the course had far fewer curves and generally wider roads than the 2005 course. The natural rivalry between the teams from Stanford and Carnegie Mellon (Sebastian Thrun, head of the Stanford team was previously a faculty member at Carnegie Mellon and colleague of Red Whittaker, head of the CMU team) was played out during the race. Mechanical problems plagued H1ghlander before it was passed by Stanley. Gray Team's entry was a miracle in itself, as the team from the suburbs of New Orleans was caught in Hurricane Katrina a few short weeks before the race. The fifth finisher, Terramax, a 30,000 pound entry from Oshkosh Truck, finished on the second day. The huge truck spent the night idling on the course, but was particularly nimble in carefully picking its way down the narrow roads of Beer Bottle Pass. == 2007 Urban Challenge == The third competition of the DARPA Grand Challenge, known as the "Urban Challenge", took place on November 3, 2007 at the site of the now-closed George Air Force Base (currently used as Southern California Logistics Airport), in Victorville, California (Google map). The course involved a 96 km (60 mi) urban area course, to be completed in less than 6 hours. Rules included obeying all traffic regulations while negotiating with other traffic and obstacles and merging into traffic. Unlike previous challenges, the 2007 Urban Challenge organizers divided competitors into two "tracks", A and B. All Track A and Track B teams were part of the same competition circuit, but the teams chosen for the Track A program received US $1 million in funding. These 11 teams largely represented major universities and large corporate interests such as CMU teaming with GM as Tartan Racing, Stanford teaming with Volkswagen, Virginia Tech teaming with TORC Robotics as VictorTango, Oshkosh Truck, Honeywell, Raytheon, Caltech, Autonomous Solutions, Cornell University, and MIT. One of the few independent entries in Track A was the Golem Group. DARPA has not publicly explained the rationale behind the selection of Track A teams. Teams were given maps sparsely charting the waypoints that defined the competition courses. At least one team, Tartan Racing, enhanced the maps through the insertion of additional extrapolated waypoints for improved navigation. A debriefing paper published by Team Jefferson illustrates graphically the contrast between the course map it was given by DARPA and the course map used by Tartan Racing. Tartan Racing claimed the $2 million prize with their vehicle "Boss", a Chevy Tahoe. The second-place finisher earning the $1 million prize was the Stanford Racing Team with their entry "Junior", a 2006 Volkswagen Passat. Coming in third place was team VictorTango, winning the $500,000 prize with their 2005 Ford Escape hybrid, "Odin". MIT placed 4th, with Cornell University and University of Pennsylvania/Lehigh University also completing the course. The six teams that successfully finished the entire course: While the 2004 and 2005 events were more physically challenging for the vehicles, the robots operated in isolation and only encountered other vehicles on the course when attempting to pass. The Urban Challenge required designers to build vehicles able to obey all traffic laws while they detect and avoid other robots on the course. This is a particular challenge for vehicle software, as vehicles must make "intelligent" decisions in real time based on the actions of other vehicles. Other than previous autonomous vehicle efforts that focused on structured situations such as highway driving with little interaction between the vehicles, this competition operated in a more cluttered urban environment and required the cars to perform sophisticated interactions with each other, such as maintaining precedence at a 4-way stop intersection. == 2012 Robotics Challenge == The DARPA Robotics Challenge is an ongoing competition focusing on humanoid robotics. The primary goal of the program is to develop ground robotic capabilities to execute complex tasks in dangerous, degraded, human-engineered environments. It launched in October 2012, and hosted the Virtual Robotics Competition in June 2013. Two more competitions are planned: the DRC Trials in December 2013, and the DRC Finals in December 2014. Unlike prior Challenges, the construction of the "vehicles" w

Land of Memories

Land of Memories (Chinese: 机忆之地) is a Chinese science-fiction novel by Shen Yang (沈阳), a professor at Tsinghua University's School of Journalism and Communication. The story revolves around a former neuroscientist trying to recover her memories from the metaverse after suffering amnesia due to an accident. It contains almost 6,000 Chinese characters and was shortened from an AI-generated draft that was 43,000 characters long. The process involved 66 prompts spanning almost three hours. The novel was among 18 submissions that won the level-two prize at the Fifth Jiangsu Youth Science Education and Science Fiction Competition (第五届江苏省青年科普科幻作品大赛). The contest was restricted to participants between the age of 14 and 45 but did not forbid entries generated by AI. One of its organizers reached out to Shen after finding out that the professor had been experimenting with writing science fiction using AI. The judges were not told about the novel's origin in advance. Three of them, out of the six, approved the work. One judge, who had worked with AI models before, recognized that the novel was written by AI and criticized the work for lacking emotional appeal. The organizer who had contacted Shen said the novel's introduction was not bad but the story did not develop well. It would not meet the usual standards for publication. However, he still plans to allow AI-generated submissions in 2024. Fu Ruchu, editorial department director of the People's Literature Publishing House, said the novel was not easily identifiable as AI-generated and applauded its logical consistency. She warned that artificial intelligence could endanger the jobs of fiction writers and cause permanent damage to literary language.

Actor-critic algorithm

The actor-critic algorithm (AC) is a family of reinforcement learning (RL) algorithms that combine policy-based RL algorithms such as policy gradient methods, and value-based RL algorithms such as value iteration, Q-learning, SARSA, and TD learning. An AC algorithm consists of two main components: an "actor" that determines which actions to take according to a policy function, and a "critic" that evaluates those actions according to a value function. Some AC algorithms are on-policy, some are off-policy. Some apply to either continuous or discrete action spaces. Some work in both cases. == Overview == The actor-critic methods can be understood as an improvement over pure policy gradient methods like REINFORCE via introducing a baseline. === Actor === The actor uses a policy function π ( a | s ) {\displaystyle \pi (a|s)} , while the critic estimates either the value function V ( s ) {\displaystyle V(s)} , the action-value Q-function Q ( s , a ) , {\displaystyle Q(s,a),} the advantage function A ( s , a ) {\displaystyle A(s,a)} , or any combination thereof. The actor is a parameterized function π θ {\displaystyle \pi _{\theta }} , where θ {\displaystyle \theta } are the parameters of the actor. The actor takes as argument the state of the environment s {\displaystyle s} and produces a probability distribution π θ ( ⋅ | s ) {\displaystyle \pi _{\theta }(\cdot |s)} . If the action space is discrete, then ∑ a π θ ( a | s ) = 1 {\displaystyle \sum _{a}\pi _{\theta }(a|s)=1} . If the action space is continuous, then ∫ a π θ ( a | s ) d a = 1 {\displaystyle \int _{a}\pi _{\theta }(a|s)da=1} . The goal of policy optimization is to improve the actor. That is, to find some θ {\displaystyle \theta } that maximizes the expected episodic reward J ( θ ) {\displaystyle J(\theta )} : J ( θ ) = E π θ [ ∑ t = 0 T γ t r t ] {\displaystyle J(\theta )=\mathbb {E} _{\pi _{\theta }}\left[\sum _{t=0}^{T}\gamma ^{t}r_{t}\right]} where γ {\displaystyle \gamma } is the discount factor, r t {\displaystyle r_{t}} is the reward at step t {\displaystyle t} , and T {\displaystyle T} is the time-horizon (which can be infinite). The goal of policy gradient method is to optimize J ( θ ) {\displaystyle J(\theta )} by gradient ascent on the policy gradient ∇ J ( θ ) {\displaystyle \nabla J(\theta )} . As detailed on the policy gradient method page, there are many unbiased estimators of the policy gradient: ∇ θ J ( θ ) = E π θ [ ∑ 0 ≤ j ≤ T ∇ θ ln ⁡ π θ ( A j | S j ) ⋅ Ψ j | S 0 = s 0 ] {\displaystyle \nabla _{\theta }J(\theta )=\mathbb {E} _{\pi _{\theta }}\left[\sum _{0\leq j\leq T}\nabla _{\theta }\ln \pi _{\theta }(A_{j}|S_{j})\cdot \Psi _{j}{\Big |}S_{0}=s_{0}\right]} where Ψ j {\textstyle \Psi _{j}} is a linear sum of the following: ∑ 0 ≤ i ≤ T ( γ i R i ) {\textstyle \sum _{0\leq i\leq T}(\gamma ^{i}R_{i})} . γ j ∑ j ≤ i ≤ T ( γ i − j R i ) {\textstyle \gamma ^{j}\sum _{j\leq i\leq T}(\gamma ^{i-j}R_{i})} : the REINFORCE algorithm. γ j ∑ j ≤ i ≤ T ( γ i − j R i ) − b ( S j ) {\textstyle \gamma ^{j}\sum _{j\leq i\leq T}(\gamma ^{i-j}R_{i})-b(S_{j})} : the REINFORCE with baseline algorithm. Here b {\displaystyle b} is an arbitrary function. γ j ( R j + γ V π θ ( S j + 1 ) − V π θ ( S j ) ) {\textstyle \gamma ^{j}\left(R_{j}+\gamma V^{\pi _{\theta }}(S_{j+1})-V^{\pi _{\theta }}(S_{j})\right)} : TD(1) learning. γ j Q π θ ( S j , A j ) {\textstyle \gamma ^{j}Q^{\pi _{\theta }}(S_{j},A_{j})} . γ j A π θ ( S j , A j ) {\textstyle \gamma ^{j}A^{\pi _{\theta }}(S_{j},A_{j})} : Advantage Actor-Critic (A2C). γ j ( R j + γ R j + 1 + γ 2 V π θ ( S j + 2 ) − V π θ ( S j ) ) {\textstyle \gamma ^{j}\left(R_{j}+\gamma R_{j+1}+\gamma ^{2}V^{\pi _{\theta }}(S_{j+2})-V^{\pi _{\theta }}(S_{j})\right)} : TD(2) learning. γ j ( ∑ k = 0 n − 1 γ k R j + k + γ n V π θ ( S j + n ) − V π θ ( S j ) ) {\textstyle \gamma ^{j}\left(\sum _{k=0}^{n-1}\gamma ^{k}R_{j+k}+\gamma ^{n}V^{\pi _{\theta }}(S_{j+n})-V^{\pi _{\theta }}(S_{j})\right)} : TD(n) learning. γ j ∑ n = 1 ∞ λ n − 1 1 − λ ⋅ ( ∑ k = 0 n − 1 γ k R j + k + γ n V π θ ( S j + n ) − V π θ ( S j ) ) {\textstyle \gamma ^{j}\sum _{n=1}^{\infty }{\frac {\lambda ^{n-1}}{1-\lambda }}\cdot \left(\sum _{k=0}^{n-1}\gamma ^{k}R_{j+k}+\gamma ^{n}V^{\pi _{\theta }}(S_{j+n})-V^{\pi _{\theta }}(S_{j})\right)} : TD(λ) learning, also known as GAE (generalized advantage estimate). This is obtained by an exponentially decaying sum of the TD(n) learning terms. === Critic === In the unbiased estimators given above, certain functions such as V π θ , Q π θ , A π θ {\displaystyle V^{\pi _{\theta }},Q^{\pi _{\theta }},A^{\pi _{\theta }}} appear. These are approximated by the critic. Since these functions all depend on the actor, the critic must learn alongside the actor. The critic is learned by value-based RL algorithms. For example, if the critic is estimating the state-value function V π θ ( s ) {\displaystyle V^{\pi _{\theta }}(s)} , then it can be learned by any value function approximation method. Let the critic be a function approximator V ϕ ( s ) {\displaystyle V_{\phi }(s)} with parameters ϕ {\displaystyle \phi } . The simplest example is TD(1) learning, which trains the critic to minimize the TD(1) error: δ i = R i + γ V ϕ ( S i + 1 ) − V ϕ ( S i ) {\displaystyle \delta _{i}=R_{i}+\gamma V_{\phi }(S_{i+1})-V_{\phi }(S_{i})} The critic parameters are updated by gradient descent on the squared TD error: ϕ ← ϕ − α ∇ ϕ ( δ i ) 2 = ϕ + α δ i ∇ ϕ V ϕ ( S i ) {\displaystyle \phi \leftarrow \phi -\alpha \nabla _{\phi }(\delta _{i})^{2}=\phi +\alpha \delta _{i}\nabla _{\phi }V_{\phi }(S_{i})} where α {\displaystyle \alpha } is the learning rate. Note that the gradient is taken with respect to the ϕ {\displaystyle \phi } in V ϕ ( S i ) {\displaystyle V_{\phi }(S_{i})} only, since the ϕ {\displaystyle \phi } in γ V ϕ ( S i + 1 ) {\displaystyle \gamma V_{\phi }(S_{i+1})} constitutes a moving target, and the gradient is not taken with respect to that. This is a common source of error in implementations that use automatic differentiation, and requires "stopping the gradient" at that point. Similarly, if the critic is estimating the action-value function Q π θ {\displaystyle Q^{\pi _{\theta }}} , then it can be learned by Q-learning or SARSA. In SARSA, the critic maintains an estimate of the Q-function, parameterized by ϕ {\displaystyle \phi } , denoted as Q ϕ ( s , a ) {\displaystyle Q_{\phi }(s,a)} . The temporal difference error is then calculated as δ i = R i + γ Q θ ( S i + 1 , A i + 1 ) − Q θ ( S i , A i ) {\displaystyle \delta _{i}=R_{i}+\gamma Q_{\theta }(S_{i+1},A_{i+1})-Q_{\theta }(S_{i},A_{i})} . The critic is then updated by θ ← θ + α δ i ∇ θ Q θ ( S i , A i ) {\displaystyle \theta \leftarrow \theta +\alpha \delta _{i}\nabla _{\theta }Q_{\theta }(S_{i},A_{i})} The advantage critic can be trained by training both a Q-function Q ϕ ( s , a ) {\displaystyle Q_{\phi }(s,a)} and a state-value function V ϕ ( s ) {\displaystyle V_{\phi }(s)} , then let A ϕ ( s , a ) = Q ϕ ( s , a ) − V ϕ ( s ) {\displaystyle A_{\phi }(s,a)=Q_{\phi }(s,a)-V_{\phi }(s)} . Although, it is more common to train just a state-value function V ϕ ( s ) {\displaystyle V_{\phi }(s)} , then estimate the advantage by A ϕ ( S i , A i ) ≈ ∑ j ∈ 0 : n − 1 γ j R i + j + γ n V ϕ ( S i + n ) − V ϕ ( S i ) {\displaystyle A_{\phi }(S_{i},A_{i})\approx \sum _{j\in 0:n-1}\gamma ^{j}R_{i+j}+\gamma ^{n}V_{\phi }(S_{i+n})-V_{\phi }(S_{i})} Here, n {\displaystyle n} is a positive integer. The higher n {\displaystyle n} is, the more lower is the bias in the advantage estimation, but at the price of higher variance. The Generalized Advantage Estimation (GAE) introduces a hyperparameter λ {\displaystyle \lambda } that smoothly interpolates between Monte Carlo returns ( λ = 1 {\displaystyle \lambda =1} , high variance, no bias) and 1-step TD learning ( λ = 0 {\displaystyle \lambda =0} , low variance, high bias). This hyperparameter can be adjusted to pick the optimal bias-variance trade-off in advantage estimation. It uses an exponentially decaying average of n-step returns with λ {\displaystyle \lambda } being the decay strength. == Variants == Asynchronous Advantage Actor-Critic (A3C): Parallel and asynchronous version of A2C. Soft Actor-Critic (SAC): Incorporates entropy maximization for improved exploration. Deep Deterministic Policy Gradient (DDPG): Specialized for continuous action spaces.

Distributed multi-agent reasoning system

In artificial intelligence, the distributed multi-agent reasoning system (dMARS) was a platform for intelligent software agents developed at the AAII that makes uses of the belief–desire–intention software model (BDI). The design for dMARS was an extension of the intelligent agent cognitive architecture developed at SRI International called procedural reasoning system (PRS). The most recent incarnation of this framework is the JACK Intelligent Agents platform. == Overview == dMARS was an agent-oriented development and implementation environment written in C++ for building complex, distributed, time-critical systems.