Narrative based Postdictive Reasoning for Cognitive Robotics

Making sense of incomplete and conflicting narrative knowledge in the presence of abnormalities, unobservable processes, and other real world considerations is a challenge and crucial requirement for cognitive robotics systems. An added challenge, even when suitably specialised action languages and reasoning systems exist, is practical integration and application within large-scale robot control frameworks. In the backdrop of an autonomous wheelchair robot control task, we report on application-driven work to realise postdiction triggered abnormality detection and re-planning for real-time robot control: (a) Narrative-based knowledge about the environment is obtained via a larger smart environment framework; and (b) abnormalities are postdicted from stable-models of an answer-set program corresponding to the robot's epistemic model. The overall reasoning is performed in the context of an approximate epistemic action theory based planner implemented via a translation to answer-set programming.Comment: Commonsense Reasoning Symposium, Ayia Napa, Cyprus, 201

h-approximation: History-Based Approximation of Possible World Semantics as ASP

We propose an approximation of the Possible Worlds Semantics (PWS) for action planning. A corresponding planning system is implemented by a transformation of the action specification to an Answer-Set Program. A novelty is support for postdiction wrt. (a) the plan existence problem in our framework can be solved in NP, as compared to $\Sigma_2^P$ for non-approximated PWS of Baral(2000); and (b) the planner generates optimal plans wrt. a minimal number of actions in $\Delta_2^P$. We demo the planning system with standard problems, and illustrate its integration in a larger software framework for robot control in a smart home.Comment: 12th International Conference on Logic Programming and Nonmonotonic Reasoning (LPNMR 2013

Postdictive Reasoning in Epistemic Action Theory

If an agent executes an action, this will not only change the world physically, but also the agent's knowledge about the world. Therefore the occurrence of an action can be modeled as an epistemic state transition which maps the knowledge state of an agent to a successor knowledge state. For example, consider that an agent in a state s_0 executes an action a. This causes a transition to a state s_1. Subsequently, the agent executes a sensing action a_s, which produces knowledge and causes a transition to a state s_2. With the information which is gained by the sensation, the agent can not only extend its knowledge about s_2, but also infer additional knowledge about the initial state s_0. That is, the agent uses knowledge about the present to retrospectively acquire additional information about the past. We refer to this temporal form of epistemic inference as postdiction. Existing action theories are not capable of efficiently performing postdictive reasoning because they require an exponential number of state variables to represent an agent's knowledge state. The contribution of this thesis is an approximate epistemic action theory which is capable of postdictive reasoning while it requires only a linear number of state variables to represent an agent's knowledge state. In addition, the theory is able to perform a more general temporal form of postdiction, which most existing approaches do not support. We call the theory the h-approximation (HPX) because it explicitly represents historical knowledge about past world states. In addition to the operational semantics of HPX, we present its formalization in terms of Answer Set Programming (ASP) and provide respective soundness results. The ASP implementation allows us to apply HPX in real robotic applications by using off-the-shelf ASP solvers. Specifically, we integrate of HPX in an online planning framework for Cognitive Robotics where planning, plan execution and abductive explanation tasks are interleaved. As a proof-of-concept, we provide a case-study which demonstrates the application of HPX for high-level robot control in a Smart Home. The case-study emphasizes the usefulness of postdiction for abnormality detection in robotics: actions which are performed by robots are often not successful due to unforeseen practical problems. A solution is to verify action success by observing the effects of the action. If the desired effects do not hold after action execution, then one can postdict the existence of an abnormality

Exploiting Deep Semantics and Compositionality of Natural Language for Human-Robot-Interaction

We develop a natural language interface for human robot interaction that implements reasoning about deep semantics in natural language. To realize the required deep analysis, we employ methods from cognitive linguistics, namely the modular and compositional framework of Embodied Construction Grammar (ECG) [Feldman, 2009]. Using ECG, robots are able to solve fine-grained reference resolution problems and other issues related to deep semantics and compositionality of natural language. This also includes verbal interaction with humans to clarify commands and queries that are too ambiguous to be executed safely. We implement our NLU framework as a ROS package and present proof-of-concept scenarios with different robots, as well as a survey on the state of the art

Computational Modelling of Information Gathering

This thesis describes computational modelling of information gathering behaviour under active inference – a framework for describing Bayes optimal behaviour. Under active inference perception, attention and action all serve for same purpose: minimising variational free energy. Variational free energy is an upper bound on surprise and minimising it maximises an agent’s evidence for its survival. An agent achieves this by acquiring information (resolving uncertainty) about the hidden states of the world and uses the acquired information to act on the outcomes it prefers. In this work I placed special emphasis on the resolution of uncertainty about the states of the world. I first created a visual search task called scene construction task. In this task one needs to accumulate evidence for competing hypotheses (different visual scenes) through sequential sampling of a visual scene and categorising it once there is sufficient evidence. I showed that a computational agent attends to the most salient (epistemically valuable) locations in this task. In the next, this task was performed by healthy humans. Healthy people’s exploration strategies provided evidence for uncertainty driven exploration. I also showed how different exploratory behaviours can be characterised using canonical correlation analysis. In the next study I showed how exploration of a visual scene under different instructions could be explained by appealing to the computational mechanisms that may correspond to attention. This entailed manipulating the precision of task irrelevant cues and their hidden causes as a function of instructions. In the final work, I was interested in characterising impulsive behaviour using a patch leaving paradigm. By varying the parameters of the MDP model, I showed that there could be at least three distinct causes of impulsive behaviour, namely a lower depth of planning, a lower capacity to maintain and process information, and an increased perceived value of immediate rewards

Here be dragons: exploring the hinterland of science

This dissertation is an exploration of the hinterland of science and the strange ‘creatures’ dwelling there. In philosophical circles, the subject of pseudoscience has stirred relatively little philosophical excitement. The demarcation project has fallen on hard times, and many philosophers have grown suspicious of the very term ‘pseudoscience’, as it is believed to suggest a naïve conception of science and its borderlines. In this dissertation, I argue that, instead of abandoning the demarcation project altogether, we should search for more sophisticated tools to distinguish pseudoscience from bona fide science. The ‘silver bullet’ approach to pseudoscience is criticized, particularly with regard to the principle of methodological naturalism in science and the controversy about supernaturalism and intelligent design. I develop a theoretical framework for analyzing the structure of pseudosciences, based on the concepts of immunizing strategies and epistemic defense mechanisms. The recurrence of these theoretical features, which is illustrated with a number of case studies, demonstrates the surprising resilience of pseudoscience and other ‘irrational’ belief systems. These epistemological considerations are then integrated with cognitive and psychological findings on irrationality, in order to construct a broader framework for the generation and dissemination of belief systems (epidemiology of representations). I argue that the self-validating nature and internal epistemic rationale of certain ‘weird’ belief systems go some way to explaining their wide appeal and pervasiveness. We conclude that pseudosciences are worthy of philosophical investigation, and that the rumors of the death of demarcationism have been greatly exaggerated

Computer Simulations in Science and Engineering. Concept, Practices, Perspectives

This book addresses key conceptual issues relating to the modern scientific and engineering use of computer simulations. It analyses a broad set of questions, from the nature of computer simulations to their epistemological power, including the many scientific, social and ethics implications of using computer simulations. The book is written in an easily accessible narrative, one that weaves together philosophical questions and scientific technicalities. It will thus appeal equally to all academic scientists, engineers, and researchers in industry interested in questions related to the general practice of computer simulations

Proceedings of the 11th Workshop on Nonmonotonic Reasoning

These are the proceedings of the 11th Nonmonotonic Reasoning Workshop. The aim of this series is to bring together active researchers in the broad area of nonmonotonic reasoning, including belief revision, reasoning about actions, planning, logic programming, argumentation, causality, probabilistic and possibilistic approaches to KR, and other related topics. As part of the program of the 11th workshop, we have assessed the status of the field and discussed issues such as: Significant recent achievements in the theory and automation of NMR; Critical short and long term goals for NMR; Emerging new research directions in NMR; Practical applications of NMR; Significance of NMR to knowledge representation and AI in general