KR3^3: An Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture that combines the complementary strengths of declarative programming and probabilistic graphical models to enable robots to represent, reason with, and learn from, qualitative and quantitative descriptions of uncertainty and knowledge. An action language is used for the low-level (LL) and high-level (HL) system descriptions in the architecture, and the definition of recorded histories in the HL is expanded to allow prioritized defaults. For any given goal, tentative plans created in the HL using default knowledge and commonsense reasoning are implemented in the LL using probabilistic algorithms, with the corresponding observations used to update the HL history. Tight coupling between the two levels enables automatic selection of relevant variables and generation of suitable action policies in the LL for each HL action, and supports reasoning with violation of defaults, noisy observations and unreliable actions in large and complex domains. The architecture is evaluated in simulation and on physical robots transporting objects in indoor domains; the benefit on robots is a reduction in task execution time of 39% compared with a purely probabilistic, but still hierarchical, approach.Comment: The paper appears in the Proceedings of the 15th International Workshop on Non-Monotonic Reasoning (NMR 2014

Learning to Understand by Evolving Theories

In this paper, we describe an approach that enables an autonomous system to infer the semantics of a command (i.e. a symbol sequence representing an action) in terms of the relations between changes in the observations and the action instances. We present a method of how to induce a theory (i.e. a semantic description) of the meaning of a command in terms of a minimal set of background knowledge. The only thing we have is a sequence of observations from which we extract what kinds of effects were caused by performing the command. This way, we yield a description of the semantics of the action and, hence, a definition.Comment: KRR Workshop at ICLP 201

Transdisciplinarity seen through Information, Communication, Computation, (Inter-)Action and Cognition

Similar to oil that acted as a basic raw material and key driving force of industrial society, information acts as a raw material and principal mover of knowledge society in the knowledge production, propagation and application. New developments in information processing and information communication technologies allow increasingly complex and accurate descriptions, representations and models, which are often multi-parameter, multi-perspective, multi-level and multidimensional. This leads to the necessity of collaborative work between different domains with corresponding specialist competences, sciences and research traditions. We present several major transdisciplinary unification projects for information and knowledge, which proceed on the descriptive, logical and the level of generative mechanisms. Parallel process of boundary crossing and transdisciplinary activity is going on in the applied domains. Technological artifacts are becoming increasingly complex and their design is strongly user-centered, which brings in not only the function and various technological qualities but also other aspects including esthetic, user experience, ethics and sustainability with social and environmental dimensions. When integrating knowledge from a variety of fields, with contributions from different groups of stakeholders, numerous challenges are met in establishing common view and common course of action. In this context, information is our environment, and informational ecology determines both epistemology and spaces for action. We present some insights into the current state of the art of transdisciplinary theory and practice of information studies and informatics. We depict different facets of transdisciplinarity as we see it from our different research fields that include information studies, computability, human-computer interaction, multi-operating-systems environments and philosophy.Comment: Chapter in a forthcoming book: Information Studies and the Quest for Transdisciplinarity - Forthcoming book in World Scientific. Mark Burgin and Wolfgang Hofkirchner, Editor