Goal Reasoning: Papers from the ACS Workshop

This technical report contains the 14 accepted papers presented at the Workshop on Goal Reasoning, which was held as part of the 2015 Conference on Advances in Cognitive Systems (ACS-15) in Atlanta, Georgia on 28 May 2015. This is the fourth in a series of workshops related to this topic, the first of which was the AAAI-10 Workshop on Goal-Directed Autonomy; the second was the Self-Motivated Agents (SeMoA) Workshop, held at Lehigh University in November 2012; and the third was the Goal Reasoning Workshop at ACS-13 in Baltimore, Maryland in December 2013

Robot Learning From Randomized Simulations: A Review

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore, state-of-the-art approaches learn in simulation where data generation is fast as well as inexpensive and subsequently transfer the knowledge to the real robot (sim-to-real). Despite becoming increasingly realistic, all simulators are by construction based on models, hence inevitably imperfect. This raises the question of how simulators can be modified to facilitate learning robot control policies and overcome the mismatch between simulation and reality, often called the “reality gap.” We provide a comprehensive review of sim-to-real research for robotics, focusing on a technique named “domain randomization” which is a method for learning from randomized simulations

Barry Smith an sich

Festschrift in Honor of Barry Smith on the occasion of his 65th Birthday. Published as issue 4:4 of the journal Cosmos + Taxis: Studies in Emergent Order and Organization. Includes contributions by Wolfgang Grassl, Nicola Guarino, John T. Kearns, Rudolf Lüthe, Luc Schneider, Peter Simons, Wojciech Żełaniec, and Jan Woleński

Languages of games and play: A systematic mapping study

Digital games are a powerful means for creating enticing, beautiful, educational, and often highly addictive interactive experiences that impact the lives of billions of players worldwide. We explore what informs the design and construction of good games to learn how to speed-up game development. In particular, we study to what extent languages, notations, patterns, and tools, can offer experts theoretical foundations, systematic techniques, and practical solutions they need to raise their productivity and improve the quality of games and play. Despite the growing number of publications on this topic there is currently no overview describing the state-of-the-art that relates research areas, goals, and applications. As a result, efforts and successes are often one-off, lessons learned go overlooked, language reuse remains minimal, and opportunities for collaboration and synergy are lost. We present a systematic map that identifies relevant publications and gives an overview of research areas and publication venues. In addition, we categorize research perspectives along common objectives, techniques, and approaches, illustrated by summaries of selected languages. Finally, we distill challenges and opportunities for future research and development

Graphical Models and Symmetries : Loopy Belief Propagation Approaches

Whenever a person or an automated system has to reason in uncertain domains, probability theory is necessary. Probabilistic graphical models allow us to build statistical models that capture complex dependencies between random variables. Inference in these models, however, can easily become intractable. Typical ways to address this scaling issue are inference by approximate message-passing, stochastic gradients, and MapReduce, among others. Exploiting the symmetries of graphical models, however, has not yet been considered for scaling statistical machine learning applications. One instance of graphical models that are inherently symmetric are statistical relational models. These have recently gained attraction within the machine learning and AI communities and combine probability theory with first-order logic, thereby allowing for an efficient representation of structured relational domains. The provided formalisms to compactly represent complex real-world domains enable us to effectively describe large problem instances. Inference within and training of graphical models, however, have not been able to keep pace with the increased representational power. This thesis tackles two major aspects of graphical models and shows that both inference and training can indeed benefit from exploiting symmetries. It first deals with efficient inference exploiting symmetries in graphical models for various query types. We introduce lifted loopy belief propagation (lifted LBP), the first lifted parallel inference approach for relational as well as propositional graphical models. Lifted LBP can effectively speed up marginal inference, but cannot straightforwardly be applied to other types of queries. Thus we also demonstrate efficient lifted algorithms for MAP inference and higher order marginals, as well as the efficient handling of multiple inference tasks. Then we turn to the training of graphical models and introduce the first lifted online training for relational models. Our training procedure and the MapReduce lifting for loopy belief propagation combine lifting with the traditional statistical approaches to scaling, thereby bridging the gap between statistical relational learning and traditional statistical machine learning

Activity, context, and plan recognition with computational causal behavior models

Objective of this thesis is to answer the question "how to achieve efficient sensor-based reconstruction of causal structures of human behaviour in order to provide assistance?". To answer this question, the concept of Computational Causal Behaviour Models (CCBMs) is introduced. CCBM allows the specification of human behaviour by means of preconditions and effects and employs Bayesian filtering techniques to reconstruct action sequences from noisy and ambiguous sensor data. Furthermore, a novel approximative inference algorithm – the Marginal Filter – is introduced

Human-Robot Collaborations in Industrial Automation

Technology is changing the manufacturing world. For example, sensors are being used to track inventories from the manufacturing floor up to a retail shelf or a customer’s door. These types of interconnected systems have been called the fourth industrial revolution, also known as Industry 4.0, and are projected to lower manufacturing costs. As industry moves toward these integrated technologies and lower costs, engineers will need to connect these systems via the Internet of Things (IoT). These engineers will also need to design how these connected systems interact with humans. The focus of this Special Issue is the smart sensors used in these human–robot collaborations