Learning and Reasoning for Robot Sequential Decision Making under Uncertainty

Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the simultaneous capabilities of supervised learning for passive state estimation, automated reasoning with declarative human knowledge, and planning under uncertainty toward achieving long-term goals. In particular, we use a hybrid reasoning paradigm to refine the state estimator, and provide informative priors for the probabilistic planner. In experiments, a mobile robot is tasked with estimating human intentions using their motion trajectories, declarative contextual knowledge, and human-robot interaction (dialog-based and motion-based). Results suggest that, in efficiency and accuracy, our framework performs better than its no-learning and no-reasoning counterparts in office environment.Comment: In proceedings of 34th AAAI conference on Artificial Intelligence, 202

Quality of Information in Mobile Crowdsensing: Survey and Research Challenges

Smartphones have become the most pervasive devices in people's lives, and are clearly transforming the way we live and perceive technology. Today's smartphones benefit from almost ubiquitous Internet connectivity and come equipped with a plethora of inexpensive yet powerful embedded sensors, such as accelerometer, gyroscope, microphone, and camera. This unique combination has enabled revolutionary applications based on the mobile crowdsensing paradigm, such as real-time road traffic monitoring, air and noise pollution, crime control, and wildlife monitoring, just to name a few. Differently from prior sensing paradigms, humans are now the primary actors of the sensing process, since they become fundamental in retrieving reliable and up-to-date information about the event being monitored. As humans may behave unreliably or maliciously, assessing and guaranteeing Quality of Information (QoI) becomes more important than ever. In this paper, we provide a new framework for defining and enforcing the QoI in mobile crowdsensing, and analyze in depth the current state-of-the-art on the topic. We also outline novel research challenges, along with possible directions of future work.Comment: To appear in ACM Transactions on Sensor Networks (TOSN

Bayesian Updating, Model Class Selection and Robust Stochastic Predictions of Structural Response

A fundamental issue when predicting structural response by using mathematical models is how to treat both modeling and excitation uncertainty. A general framework for this is presented which uses probability as a multi-valued conditional logic for quantitative plausible reasoning in the presence of uncertainty due to incomplete information. The fundamental probability models that represent the structure’s uncertain behavior are specified by the choice of a stochastic system model class: a set of input-output probability models for the structure and a prior probability distribution over this set that quantifies the relative plausibility of each model. A model class can be constructed from a parameterized deterministic structural model by stochastic embedding utilizing Jaynes’ Principle of Maximum Information Entropy. Robust predictive analyses use the entire model class with the probabilistic predictions of each model being weighted by its prior probability, or if structural response data is available, by its posterior probability from Bayes’ Theorem for the model class. Additional robustness to modeling uncertainty comes from combining the robust predictions of each model class in a set of competing candidates weighted by the prior or posterior probability of the model class, the latter being computed from Bayes’ Theorem. This higherlevel application of Bayes’ Theorem automatically applies a quantitative Ockham razor that penalizes the data-fit of more complex model classes that extract more information from the data. Robust predictive analyses involve integrals over highdimensional spaces that usually must be evaluated numerically. Published applications have used Laplace's method of asymptotic approximation or Markov Chain Monte Carlo algorithms

Modelling Users, Intentions, and Structure in Spoken Dialog

We outline how utterances in dialogs can be interpreted using a partial first order logic. We exploit the capability of this logic to talk about the truth status of formulae to define a notion of coherence between utterances and explain how this coherence relation can serve for the construction of AND/OR trees that represent the segmentation of the dialog. In a BDI model we formalize basic assumptions about dialog and cooperative behaviour of participants. These assumptions provide a basis for inferring speech acts from coherence relations between utterances and attitudes of dialog participants. Speech acts prove to be useful for determining dialog segments defined on the notion of completing expectations of dialog participants. Finally, we sketch how explicit segmentation signalled by cue phrases and performatives is covered by our dialog model.Comment: 17 page

Formal analysis of the communication of probabilistic knowledge

This paper discusses questions about communication of probabilistic knowledge in the light of current theories of agent communication. It will argue that there is a semantic gap between these theories and research areas related to probabilistic knowledge representation and communication, that creates very serious theoretical problems if agents that reason probabilistically try to use the communication framework provided by these theories. The paper proposes a new formal model, which generalizes current agent communication theories (at least the standard FIPA version of these theories) to handle probabilistic knowledge communication. We propose a new probabilistic logic as the basis for the model and new communication principles and communicative acts to support this kind of communication.IFIP International Conference on Artificial Intelligence in Theory and Practice - Agents 1Red de Universidades con Carreras en Informática (RedUNCI

A Formal Apology for Metaphysics

There is an old meta-philosophical worry: very roughly, metaphysical theories have no observational consequences and so the study of metaphysics has no value. The worry has been around in some form since the rise of logical positivism in the early twentieth century but has seen a bit of a renaissance recently. In this paper, I provide an apology for metaphysics in the face of this kind of concern. The core of the argument is this: pure mathematics detaches from science in much the same manner as metaphysics and yet it is valuable nonetheless. The source of value enjoyed by pure mathematics extends to metaphysics as well. Accordingly, if one denies that metaphysics has value, then one is forced to deny that pure mathematics has value. The argument places an added burden on the sceptic of metaphysics. If one truly believes that metaphysics is worthless (as some philosophers do), then one must give up on pure mathematics as well