Curious about the best AI presentation maker? An AI presentation maker is software that uses machine learning to help you get more done — it combines speed, accuracy, and an interface that just works. Hands-on testing shows real-world results vary, so a short free trial is the smartest way to decide. Whether you are a beginner or a pro, the right AI presentation maker slots into your workflow and pays for itself fast. This guide breaks down the top picks, their pros and cons, and who each one is best for.
Landweber iteration
The Landweber iteration or Landweber algorithm is an algorithm to solve ill-posed linear inverse problems, and it has been extended to solve non-linear problems that involve constraints. The method was first proposed in the 1950s by Louis Landweber, and it can be now viewed as a special case of many other more general methods. == Basic algorithm == The original Landweber algorithm attempts to recover a signal x from (noisy) measurements y. The linear version assumes that y = A x {\displaystyle y=Ax} for a linear operator A. When the problem is in finite dimensions, A is just a matrix. When A is nonsingular, then an explicit solution is x = A − 1 y {\displaystyle x=A^{-1}y} . However, if A is ill-conditioned, the explicit solution is a poor choice since it is sensitive to any noise in the data y. If A is singular, this explicit solution doesn't even exist. The Landweber algorithm is an attempt to regularize the problem, and is one of the alternatives to Tikhonov regularization. We may view the Landweber algorithm as solving: min x ‖ A x − y ‖ 2 2 / 2 {\displaystyle \min _{x}\|Ax-y\|_{2}^{2}/2} using an iterative method. The algorithm is given by the update x k + 1 = x k − ω A ∗ ( A x k − y ) . {\displaystyle x_{k+1}=x_{k}-\omega A^{}(Ax_{k}-y).} where the relaxation factor ω {\displaystyle \omega } satisfies 0 < ω < 2 / σ 1 2 {\displaystyle 0<\omega <2/\sigma _{1}^{2}} . Here σ 1 {\displaystyle \sigma _{1}} is the largest singular value of A {\displaystyle A} . If we write f ( x ) = ‖ A x − y ‖ 2 2 / 2 {\displaystyle f(x)=\|Ax-y\|_{2}^{2}/2} , then the update can be written in terms of the gradient x k + 1 = x k − ω ∇ f ( x k ) {\displaystyle x_{k+1}=x_{k}-\omega \nabla f(x_{k})} and hence the algorithm is a special case of gradient descent. For ill-posed problems, the iterative method needs to be stopped at a suitable iteration index, because it semi-converges. This means that the iterates approach a regularized solution during the first iterations, but become unstable in further iterations. The reciprocal of the iteration index 1 / k {\displaystyle 1/k} acts as a regularization parameter. A suitable parameter is found, when the mismatch ‖ A x k − y ‖ 2 2 {\displaystyle \|Ax_{k}-y\|_{2}^{2}} approaches the noise level. Using the Landweber iteration as a regularization algorithm has been discussed in the literature. == Nonlinear extension == In general, the updates generated by x k + 1 = x k − τ ∇ f ( x k ) {\displaystyle x_{k+1}=x_{k}-\tau \nabla f(x_{k})} will generate a sequence f ( x k ) {\displaystyle f(x_{k})} that converges to a minimizer of f whenever f is convex and the stepsize τ {\displaystyle \tau } is chosen such that 0 < τ < 2 / ( ‖ ∇ f ‖ 2 ) {\displaystyle 0<\tau <2/(\|\nabla f\|^{2})} where ‖ ⋅ ‖ {\displaystyle \|\cdot \|} is the spectral norm. Since this is special type of gradient descent, there currently is not much benefit to analyzing it on its own as the nonlinear Landweber, but such analysis was performed historically by many communities not aware of unifying frameworks. The nonlinear Landweber problem has been studied in many papers in many communities; see, for example. == Extension to constrained problems == If f is a convex function and C is a convex set, then the problem min x ∈ C f ( x ) {\displaystyle \min _{x\in C}f(x)} can be solved by the constrained, nonlinear Landweber iteration, given by: x k + 1 = P C ( x k − τ ∇ f ( x k ) ) {\displaystyle x_{k+1}={\mathcal {P}}_{C}(x_{k}-\tau \nabla f(x_{k}))} where P {\displaystyle {\mathcal {P}}} is the projection onto the set C. Convergence is guaranteed when 0 < τ < 2 / ( ‖ A ‖ 2 ) {\displaystyle 0<\tau <2/(\|A\|^{2})} . This is again a special case of projected gradient descent (which is a special case of the forward–backward algorithm) as discussed in. == Applications == Since the method has been around since the 1950s, it has been adopted and rediscovered by many scientific communities, especially those studying ill-posed problems. In X-ray computed tomography it is called simultaneous iterative reconstruction technique (SIRT). It has also been used in the computer vision community and the signal restoration community. It is also used in image processing, since many image problems, such as deconvolution, are ill-posed. Variants of this method have been used also in sparse approximation problems and compressed sensing settings.
Stanford Research Institute Problem Solver
The Stanford Research Institute Problem Solver, known by its acronym STRIPS, is an automated planner developed by Richard Fikes and Nils Nilsson in 1971 at SRI International. The same name was later used to refer to the formal language of the inputs to this planner. This language is the base for most of the languages for expressing automated planning problem instances in use today; such languages are commonly known as action languages. This article only describes the language, not the planner. == Definition == A STRIPS instance is composed of: An initial state; The specification of the goal states – situations that the planner is trying to reach; A set of actions. For each action, the following are included: preconditions (what must be established before the action is performed); postconditions (what is established after the action is performed). Mathematically, a STRIPS instance is a quadruple ⟨ P , O , I , G ⟩ {\displaystyle \langle P,O,I,G\rangle } , in which each component has the following meaning: P {\displaystyle P} is a set of conditions (i.e., propositional variables); O {\displaystyle O} is a set of operators (i.e., actions); each operator is itself a quadruple ⟨ α , β , γ , δ ⟩ {\displaystyle \langle \alpha ,\beta ,\gamma ,\delta \rangle } , each element being a set of conditions. These four sets specify, in order, which conditions must be true for the action to be executable, which ones must be false, which ones are made true by the action and which ones are made false; I {\displaystyle I} is the initial state, given as the set of conditions that are initially true (all others are assumed false); G {\displaystyle G} is the specification of the goal state; this is given as a pair ⟨ N , M ⟩ {\displaystyle \langle N,M\rangle } , which specify which conditions are true and false, respectively, in order for a state to be considered a goal state. A plan for such a planning instance is a sequence of operators that can be executed from the initial state and that leads to a goal state. Formally, a state is a set of conditions: a state is represented by the set of conditions that are true in it. Transitions between states are modeled by a transition function, which is a function mapping states into new states that result from the execution of actions. Since states are represented by sets of conditions, the transition function relative to the STRIPS instance ⟨ P , O , I , G ⟩ {\displaystyle \langle P,O,I,G\rangle } is a function succ : 2 P × O → 2 P , {\displaystyle \operatorname {succ} :2^{P}\times O\rightarrow 2^{P},} where 2 P {\displaystyle 2^{P}} is the set of all subsets of P {\displaystyle P} , and is therefore the set of all possible states. The transition function succ {\displaystyle \operatorname {succ} } for a state C ⊆ P {\displaystyle C\subseteq P} , can be defined as follows, using the simplifying assumption that actions can always be executed but have no effect if their preconditions are not met: The function succ {\displaystyle \operatorname {succ} } can be extended to sequences of actions by the following recursive equations: succ ( C , [ ] ) = C {\displaystyle \operatorname {succ} (C,[\ ])=C} succ ( C , [ a 1 , a 2 , … , a n ] ) = succ ( succ ( C , a 1 ) , [ a 2 , … , a n ] ) {\displaystyle \operatorname {succ} (C,[a_{1},a_{2},\ldots ,a_{n}])=\operatorname {succ} (\operatorname {succ} (C,a_{1}),[a_{2},\ldots ,a_{n}])} A plan for a STRIPS instance is a sequence of actions such that the state that results from executing the actions in order from the initial state satisfies the goal conditions. Formally, [ a 1 , a 2 , … , a n ] {\displaystyle [a_{1},a_{2},\ldots ,a_{n}]} is a plan for G = ⟨ N , M ⟩ {\displaystyle G=\langle N,M\rangle } if F = succ ( I , [ a 1 , a 2 , … , a n ] ) {\displaystyle F=\operatorname {succ} (I,[a_{1},a_{2},\ldots ,a_{n}])} satisfies the following two conditions: N ⊆ F {\displaystyle N\subseteq F} M ∩ F = ∅ {\displaystyle M\cap F=\varnothing } == Extensions == The above language is actually the propositional version of STRIPS; in practice, conditions are often about objects: for example, that the position of a robot can be modeled by a predicate A t {\displaystyle At} , and A t ( r o o m 1 ) {\displaystyle At(room1)} means that the robot is in Room1. In this case, actions can have free variables, which are implicitly existentially quantified. In other words, an action represents all possible propositional actions that can be obtained by replacing each free variable with a value. The initial state is considered fully known in the language described above: conditions that are not in I {\displaystyle I} are all assumed false. This is often a limiting assumption, as there are natural examples of planning problems in which the initial state is not fully known. Extensions of STRIPS have been developed to deal with partially known initial states. == A sample STRIPS problem == A monkey is at location A in a lab. There is a box in location C. The monkey wants the bananas that are hanging from the ceiling in location B, but it needs to move the box and climb onto it in order to reach them. Initial state: At(A), Level(low), BoxAt(C), BananasAt(B) Goal state: Have(bananas) Actions: // move from X to Y _Move(X, Y)_ Preconditions: At(X), Level(low) Postconditions: not At(X), At(Y) // climb up on the box _ClimbUp(Location)_ Preconditions: At(Location), BoxAt(Location), Level(low) Postconditions: Level(high), not Level(low) // climb down from the box _ClimbDown(Location)_ Preconditions: At(Location), BoxAt(Location), Level(high) Postconditions: Level(low), not Level(high) // move monkey and box from X to Y _MoveBox(X, Y)_ Preconditions: At(X), BoxAt(X), Level(low) Postconditions: BoxAt(Y), not BoxAt(X), At(Y), not At(X) // take the bananas _TakeBananas(Location)_ Preconditions: At(Location), BananasAt(Location), Level(high) Postconditions: Have(bananas) == Complexity == Deciding whether any plan exists for a propositional STRIPS instance is PSPACE-complete. Various restrictions can be enforced in order to decide if a plan exists in polynomial time or at least make it an NP-complete problem. == Macro operator == In the monkey and banana problem, the robot monkey has to execute a sequence of actions to reach the banana at the ceiling. A single action provides a small change in the game. To simplify the planning process, it make sense to invent an abstract action, which isn't available in the normal rule description. The super-action consists of low level actions and can reach high-level goals. The advantage is that the computational complexity is lower, and longer tasks can be planned by the solver. Identifying new macro operators for a domain can be realized with genetic programming. The idea is, not to plan the domain itself, but in the pre-step, a heuristics is created that allows the domain to be solved much faster. In the context of reinforcement learning, a macro-operator is called an option. Similar to the definition within AI planning, the idea is, to provide a temporal abstraction (span over a longer period) and to modify the game state directly on a higher layer.
Script theory
Script theory is a psychological theory which posits that human behaviour largely falls into patterns called scripts because they function the way a written script does, by providing a program for action. Silvan Tomkins created script theory as a further development of his affect theory, which regards human beings' emotional responses to stimuli as falling into categories called affects: he noticed that the purely biological response of affect may be followed by awareness and by what we cognitively do in terms of acting on that affect, so that more was needed to produce a complete explanation of what he called human being theory. These scripts fall under the larger cognitive concept called schemas, which are organized chunks of information. A schema is a script that has the potential to lack the specificity of the sequence of events. A schema becomes a script is when there is an ordering to it that requires action, such as the process of starting a car (get in, put on the seatbelt, turn the car on, release the emergency brake, etc.). In script theory, the basic unit of analysis is called a scene, defined as a sequence of events linked by the affects triggered during the experience of those events. Tomkins recognized that affective experiences fall into patterns that we may group together according to criteria, such as the types of persons and places involved and the degree of intensity of the effect experienced—the patterns of which constitute scripts that inform behavior in an effort to maximize positive affect and to minimize negative affect. == In artificial intelligence == Roger Schank, Robert P. Abelson and their research group extended Tomkins' scripts and used them in early artificial intelligence work as a method of representing procedural knowledge. In their work, scripts are very much like frames, except the values that fill the slots must be ordered. A script is a structured representation describing a stereotyped sequence of events in a particular context. Scripts are used in natural-language understanding systems to organize a knowledge base in terms of the situations that the system should understand. The classic example of a script involves the typical sequence of events that occur when a person drinks in a restaurant: finding a seat, reading the menu, ordering drinks from the waitstaff, etc. In the script form, these would be decomposed into conceptual transitions, such as MTRANS and PTRANS, which refer to mental transitions [of information] and physical transitions [of things]. Schank, Abelson and their colleagues tackled some of the most difficult problems in artificial intelligence (i.e., story understanding), but ultimately their line of work ended without tangible success. This type of work received little attention after the 1980s, but became very influential in later knowledge representation techniques, such as case-based reasoning. Scripts can be inflexible. To deal with inflexibility, smaller modules called memory organization packets (MOP) can be combined in a way that is appropriate for the situation.
Leela Chess Zero
Leela Chess Zero (abbreviated as LCZero, lc0) is a free, open-source chess engine and volunteer computing project based on Google's AlphaZero engine. It was spearheaded by Gary Linscott, a developer for the Stockfish chess engine, and adapted from the Leela Zero Go engine. Like Leela Zero and AlphaGo Zero, early iterations of Leela Chess Zero started with no intrinsic chess-specific knowledge other than the basic rules of the game. It learned how to play chess through reinforcement learning from repeated self-play, using a distributed computing network coordinated at the Leela Chess Zero website. However, as of November 2024 most models used by the engine are trained through supervised learning on data generated by previous reinforcement learning runs. As of June 2025, Leela Chess Zero has played over 2.5 billion games against itself, playing around 1 million games every day, and is capable of play at a level that is comparable with Stockfish, the leading conventional chess program. == History == The Leela Chess Zero project was first announced on TalkChess.com on January 9, 2018, as an open-source, self-learning chess engine attempting to recreate the success of AlphaZero. Within the first few months of training, Leela Chess Zero had already reached the Grandmaster level, surpassing the strength of early releases of Rybka, Stockfish, and Komodo, despite evaluating orders of magnitude fewer positions due to the size of the deep neural network it uses as its evaluation function. In December 2018, the AlphaZero team published a paper in Science magazine revealing previously undisclosed details of the architecture and training parameters used for AlphaZero. These changes were soon incorporated into Leela Chess Zero and increased both its strength and training efficiency. Work on Leela Chess Zero has informed the AobaZero project for shogi. The engine has been rewritten and carefully iterated upon since its inception, and since 2019 has run on multiple backends, allowing it to run on both CPU and GPU. The engine can be configured to use different weights, including even different architectures. This same mechanism of substitutable weights can also be used for alternative chess rules, such as for the Fischer Random Chess variant, which was done in 2019. == Neural network == Like AlphaZero, Leela Chess Zero employs neural networks which output both a policy vector, a distribution over subsequent moves used to guide search, and a position evaluation. These neural networks are designed to run on GPU, unlike traditional engines. It originally used residual neural networks, but in 2022 switched to using a transformer-based architecture designed by Daniel Monroe and Philip Chalmers. These models represent a chessboard as a sequence of 64 tokens and apply a trunk consisting of a stack of Post-LN encoder layers, outputting a sequence of 64 encoded tokens which is used to generate a position evaluation and a distribution over subsequent moves. They use a custom domain-specific position encoding called smolgen to improve the self-attention layer. As of November 2024, the models used by the engine are significantly larger and more efficient than the residual network used by AlphaZero, reportedly achieving grandmaster-level strength at one position evaluation per move. These models are able to detect and exploit positional features like trapped pieces and fortresses to outmaneuver traditional engines, giving Leela a unique playstyle. There is also evidence that they are able to perform look-ahead. == Program and use == Like AlphaZero, Leela Chess Zero learns through reinforcement learning, continually training on data generated through self-play. However, unlike AlphaZero, Leela Chess Zero decentralizes its data generation through distributed computing, with volunteers generating self-play data on local hardware which is fed to the reinforcement algorithm. In order to contribute training games, volunteers must download the latest non-release candidate (non-rc) version of the engine and the client. The client connects to the Leela Chess Zero server and iteratively receives the latest neural network version and produces self-play games which are sent back to the server and use to train the network. In order to run the Leela Chess Zero engine, two components are needed: the engine binary used to perform search, and a network used to evaluate positions. The client, which is used to contribute training data to the project, is not needed for this purpose. Older networks can also be downloaded and used by placing those networks in the folder with the Lc0 binary. == Spinoffs == In season 15 of the Top Chess Engine Championship, the engine AllieStein competed alongside Leela. AllieStein is a combination of two different spinoffs from Leela: Allie, which uses the same neural network as Leela, but has a unique search algorithm for exploring different lines of play, and Stein, a network which was trained using supervised learning on existing game data from games between other engines. While neither of these projects were admitted to TCEC separately due to their similarity to Leela, the combination of Allie's search algorithm with the Stein network, called AllieStein, was deemed unique enough to warrant its inclusion in the competition. In early 2021, the LcZero blog announced Ceres, a transliteration of the engine to C# which introduced several algorithmic improvements. The engine has performed competitively in tournaments, achieving third place in the TCEC Swiss 7 and fourth place in the TCEC Cup 14. In 2024, the CeresTrain framework was announced to support training deep neural networks for chess in PyTorch. == Competition results == In April 2018, Leela Chess Zero became the first engine using a deep neural network to enter the Top Chess Engine Championship (TCEC), during Season 12 in the lowest division, Division 4. Out of 28 games, it won one, drew two, and lost the remainder; its sole victory came from a position in which its opponent, Scorpio 2.82, crashed in three moves. However, it improved quickly. In July 2018, Leela placed seventh out of eight competitors at the 2018 World Computer Chess Championship. In August 2018, it won division 4 of TCEC season 13 with a record of 14 wins, 12 draws, and 2 losses. In Division 3, Leela scored 16/28 points, finishing third behind Ethereal, which scored 22.5/28 points, and Arasan on tiebreak. By September 2018, Leela had become competitive with the strongest engines in the world. In the 2018 Chess.com Computer Chess Championship (CCCC), Leela placed fifth out of 24 entrants. The top eight engines advanced to round 2, where Leela placed fourth. Leela then won the 30-game match against Komodo to secure third place in the tournament. Leela participated in the "TCEC Cup", an event in which engines from different TCEC divisions can play matches against one another. Leela defeated higher-division engines Laser, Ethereal and Fire before finally being eliminated by Stockfish in the semi-finals. In December 2018, Leela participated in Season 14 of the Top Chess Engine Championship. Leela dominated divisions 3, 2, and 1, easily finishing first in all of them. In the premier division, Stockfish dominated while Houdini, Komodo and Leela competed for second place. It came down to a final-round game where Leela needed to hold Stockfish to a draw with black to finish second ahead of Komodo. Leela managed this and therefore met Stockfish in the superfinal. In a back and forth match, first Stockfish and then Leela took three game leads before Stockfish won by the narrow margin of 50.5–49.5. In February 2019, Leela scored its first major tournament win when it defeated Houdini in the final of the second TCEC cup. Leela did not lose a game the entire tournament. In April 2019, Leela won the Chess.com Computer Chess Championship 7: Blitz Bonanza, becoming the first neural-network project to take the title. In the season 15 of the Top Chess Engine Championship (May 2019), Leela defended its TCEC Cup title, this time defeating Stockfish with a score of 5.5–4.5 (+2 =7 −1) in the final after Stockfish blundered a seven-man tablebase draw. Leela also won the Superfinal for the first time, scoring 53.5–46.5 (+14 −7 =79) versus Stockfish, including winning as both white and black in the same predetermined opening in games 61 and 62. Season 16 of TCEC saw Leela finish in third place in premier division, missing qualification for the Superfinal to Stockfish and the new deep neural network engine AllieStein. Leela was the only engine not to suffer any losses in the Premier division, and defeated Stockfish in one of the six games they played. However, Leela only managed to score nine wins, while AllieStein and Stockfish both scored 14 wins. This inability to defeat weaker engines led to Leela finishing third, half a point behind AllieStein and a point behind Stockfish. In the fourth TCEC Cup, Leela was seeded first as the defending champion,
Application enablement
Application enablement is an approach which brings telecommunications network providers and developers together to combine their network and web abilities in creating and delivering high demand advanced services and new intelligent applications. Network providers, in addition to bandwidth, provide abilities such as billing, location, presence, and security, which have allowed them to establish long-term relationships with end-users. By offering these select abilities as application programming interfaces (APIs), providers give developers access to a set of tools to create (mashup) new applications and services to run on provider networks. Unifying the strengths of providers and developers facilitates the creation of mash-up applications, and in turn, a better end user quality of experience (QoE) for improved profit margins. Apple's iOS with App Store, and Google's Android with Android Market exemplify this approach. Both have introduced mobile platforms that are supported by a comprehensive ecosystem in order to perpetuate innovation in product design, content and service offerings, and overall consumer behavior. By the end of April 2010, downloadable applications numbered over 200,000 for iPhone and over 50,000 for Android. == Background == Historically, telecommunication providers primarily based their business models on network performance, emphasizing connectivity, availability, and quality of service (QoS) as key sources of revenue and customer value. With the increasing demand for bandwidth-intensive data and video applications, maintaining service continuity has required substantial infrastructure investments. To address rising operational costs and declining average revenue per user (ARPU), providers have increasingly adopted customer-oriented strategies and diversified business models to expand their roles within the telecommunications value chain. Application enablement supports providers in making this transition by providing an environment, or ecosystem, where providers and developers can collaborate to build, test, manage, and distribute applications across networks including television, broadband, Internet, and mobile. This cooperative effort produces mutually beneficial results for all parties, opening up new revenue streams while enhancing value and rate of return (ROI). The following are some examples of key network abilities which function as application enablers in the telecommunications market: Billing systems Security for private transactions Network-based storage of digital content End-to-end bandwidth for high-quality transmissions Scoring abilities to identify end-user preferences and behaviors Subscriber data to customize the end-user experience Context information, such as location and presence, to localize services. == New business models == As network providers work toward effective collaboration with application and content developers, several new business models are emerging to help facilitate the business relationships: === Vendor-led === A type of business model driven by telecommunications vendors, who assist network providers in building relationships with application and content developers to lower the cost and complexity of managing third parties. Examples of this model include: Forum Nokia IBM Technology Partner Ecosystem Ng Connect Huawei Intouch program === Operator-led === Characterized by network providers who want to maintain a high degree of flexibility and control over applications created for their end-consumers, this model lets them create and manage their own developer program, development platform, and application store. Under this arrangement, independent developers provide their own branding, marketing communications, pricing and customer care. Network providers pursuing this model will often seek to partner with a large number of third parties using standardized on-boarding processes. Examples of this model include: o2 Litmus Orange Partner Joint Innovation Lab === Aggregator === Network providers who choose not to create/manage their own developer relationships will partner with one or multiple aggregators, to administer a portion of or their entire application strategy. Examples of this model include: Ovi Operator Partnership Blackberry Operator Partnership Cellmania Buongiorno === Mass wholesale === Select network providers also participate in wholesale models that exist primarily for applications (BT's Ribbit- an Internet Protocol (IP) based calling and messaging platform) and devices (Verizon's Open Device initiative). This business-to-business approach reduces a large portion of the potential costs of third party application enablement (marketing, acquisition and support). Examples of this model include: BT's Ribbit Verizon Wireless ODI AT&T Synaptic Hosting === The enterprise customer === Some network providers are focusing on enabling applications in the enterprise space. In this model, the network provider establishes a platform for their large enterprise customers who want to blend custom software with enhanced abilities, and will provide standardized processes around mobilizing enterprise applications, and exposing core back-office abilities to allow for dynamic customer interaction. Examples of this model include: Vodafone Applications Service Verizon Private Network Sprint Solution Launchpad === Trusted partner === In this model, the network provider builds one-on-one relationships with trusted third-party developers by exposing customized network abilities, bringing a greater variety of brands to the network provider's portfolio. Network providers using this model tend to only have a few partners (in contrast to the operator led model). Under this scenario, network providers benefit from a pre-established customer base and the developer's marketing resources. Examples of this model include: 3/Skype Partnership (UK) Virgin Media and BBC iPlayer == Network operator developer resources == Operator led model o2 Litmus Orange Partner Joint Innovations Lab Aggregator model Ovi Operator Partnership Cellmania Buongiorno Mass wholesale model BT Ribbit Verizon Wireless ODI AT&T Synaptic Hosting Enterprise customer model Vodafone Applications Service Verizon Private Network Sprint Solution Launchpad == Rerencesfe ==
Learning Applied to Ground Vehicles
The Learning Applied to Ground Vehicles (LAGR) program, which ran from 2004 until 2008, had the goal of accelerating progress in autonomous, perception-based, off-road navigation in robotic unmanned ground vehicles (UGVs). LAGR was funded by DARPA, a research agency of the United States Department of Defense. == History and background == While mobile robots had been in existence since the 1960s, (e.g. Shakey), progress in creating robots that could navigate on their own, outdoors, off-road, on irregular, obstacle-rich terrain had been slow. In fact, no clear metrics were in place to measure progress. A baseline understanding of off-road capabilities began to emerge with the DARPA PerceptOR program in which independent research teams fielded robotic vehicles in unrehearsed Government tests that measured average speed and number of required operator interventions over a fixed course over widely spaced waypoints. These tests exposed the extreme challenges of off-road navigation. While the PerceptOR vehicles were equipped with sensors and algorithms that were state-of-the-art for the beginning of the 21st century, the limited range of their perception technology caused them to become trapped in natural cul-de-sacs. Furthermore, their reliance on pre-scripted behaviors did not allow them to adapt to unexpected circumstances. The overall result was that except for essentially open terrain with minimal obstacles, or along dirt roads, the PerceptOR vehicles were unable navigate without numerous, repeated operator intervention. The LAGR program was designed to build on the methodology started in PerceptOR while seeking to overcome the technical challenges exposed by the PerceptOR tests. == LAGR goals == The principal goal of LAGR was to accelerate progress in off navigation of UGVs. Additional, synergistic goals included (1) establishing benchmarking methodology for measuring progress for autonomous robots operating in unstructured environments, (2) advancing machine vision and thus enabling long-range perception, and (3) increasing the number of institutions and individuals who were able to contribute to forefront UGV research. == Structure and rationale of the LAGR program == The LAGR program was designed to focus on developing new science for robot perception and control rather than on new hardware. Thus, it was decided to create a fleet of identical, relatively simple robots that would be supplied to the LAGR researchers, who were members of competitive teams, freeing them to concentrate on algorithm development. The teams were each given two robots of the standard design. They developed new software on these robots, and then sent the code to a government test team that then tested that code on Government robots at various test courses. These courses were located throughout the US and were not previously known to the teams. In this way, the code from all teams could be tested in essentially identical circumstances. After an initial startup period, the code development/test cycle was repeated about once every month. The standard robot was designed and built by the Carnegie Mellon University National Robotics Engineering Center (CMU NREC). The vehicles’ computers were preloaded with a modular “Baseline” perception and navigation system that was essentially the same system that CMU NREC had created for the PerceptOR program and was considered to represent the state-of-the-art at the inception of LAGR. The modular nature of the Baseline system allowed the researchers to replace parts of the Baseline code with their own modules and still have a complete working system without having to create an entire navigation system from scratch. Thus, for example, they were able to compare the performance of their own obstacle detection module with that of the Baseline code, while holding everything else fixed. The Baseline code also served as a fixed reference – in any environment and at any time in the program, teams’ code could be compared to the Baseline code. This rapid cycle gave the Government team and the performer teams quick feedback and allowed the Government team to design test courses that challenged the performers in specific perception tasks and whose difficulty was likely to challenge, but not overwhelm, the performers’ current capabilities. Teams were not required to submit new code for every test, but usually did. Despite this leeway, some teams found the rapid test cycle distracting to their long term progress and would have preferred a longer interval between tests. === Phase II === To advance to Phase II, each team had to modify the Baseline code so that on the final 3 tests of Phase I of the government tests, robots running the team's code averaged at least 10% faster than a vehicle running the original Baseline code. This rather modest “Go/ No Go” metric was chosen to allow teams to choose risky, but promising approaches that might not be fully developed in the first 18 months of the program. All 8 teams achieved this metric, with some scoring more twice the speed of the Baseline on the later tests which was the objective for Phase II. Note that the Phase I Go / No Go metric was such that teams were not in completion with each other for a limited number of slots on Phase II: any number of teams, from eight to zero could make the grade. This strategy by DARPA was to designed to encourage cooperation and even code sharing among the teams. == The LAGR teams == Eight teams were selected as performers in Phase I, the first 18 months of LAGR. The teams were from Applied Perception (Principal Investigator [PI] Mark Ollis), Georgia Tech (PI Tucker Balch), Jet Propulsion Laboratory (PI Larry Matthies), Net-Scale Technologies (PI Urs Muller), NIST (PI James Albus), Stanford University (PI Sebastian Thrun), SRI International (PI Robert Bolles), and University of Pennsylvania (PI Daniel Lee). The Stanford team resigned at the end of Phase I to focus its efforts on the DARPA Grand Challenge; it was replaced by a team from the University of Colorado, Boulder (PI Greg Grudic). Also in Phase II, the NIST team suspended its participation in the competition and instead concentrated on assembling the best software elements from each team into a single system. Roger Bostelman became PI of that effort. == The LAGR vehicle == The LAGR vehicle, which was about the size of a supermarket shopping cart, was designed to be simple to control. (A companion DARPA program, Learning Locomotion, addressed complex motor control.) It was battery powered and had two independently driven wheelchair motors in the front, and two caster wheels in the rear. When the front wheels were rotated in the same direction the robot was driven either forward or reverse. When these wheels were driven in opposite directions, the robot turned. The ~ $30,000 cost of the LAGR vehicle meant that a fleet could be built and distributed to a number of teams expanding on the field of researchers who had traditionally participated in DARPA robotics programs. The vehicle's top speed of about 3 miles/ hour and relatively modest weight of ~100 kg meant that it posed a much reduced safety hazard compared to vehicles used in previous programs in unmanned ground vehicles and thus further reduced the budget required for each team to manage its robot. Nevertheless, the LAGR vehicles were sophisticated machines. Their sensor suite included 2 pairs of stereo cameras, an accelerometer, a bumper sensor, wheel encoders, and a GPS. The vehicle also had three computers that were user-programmable. == Scientific results == A cornerstone of the program was incorporation of learned behaviors in the robots. In addition, the program used passive optical systems to accomplish long-range scene analysis. The difficulty of testing UGV navigation in unstructured, off-road environments made accurate, objective measurement of progress a challenging task. While no absolute measure of performance had been defined in LAGR, the relative comparison of a team's code to that of the Baseline code on a given course demonstrated whether progress was being made in that environment. By the conclusion of the program, testing showed that many of the performers had attained leaps in performance. In particular, average autonomous speeds were increased by factor of 3 and useful visual perception was extended to ranges as far as 100 meters. While LAGR did succeed in extending the useful range of visual perception, this was primarily done by either pixel or patch-based color or texture analysis. Object recognition was not directly addressed. Even though the LAGR vehicle had a WAAS GPS, its position was never determined down to the width of the vehicle, so it was hard for the systems to re-use obstacle maps of areas the robots had previously traversed since the GPS continually drifted. The drift was especially severe if there was a forest canopy. A few teams developed visual odometry algorithms that essentially eliminated this drift.