Collaborating on Referring Expressions

This paper presents a computational model of how conversational participants collaborate in order to make a referring action successful. The model is based on the view of language as goal-directed behavior. We propose that the content of a referring expression can be accounted for by the planning paradigm. Not only does this approach allow the processes of building referring expressions and identifying their referents to be captured by plan construction and plan inference, it also allows us to account for how participants clarify a referring expression by using meta-actions that reason about and manipulate the plan derivation that corresponds to the referring expression. To account for how clarification goals arise and how inferred clarification plans affect the agent, we propose that the agents are in a certain state of mind, and that this state includes an intention to achieve the goal of referring and a plan that the agents are currently considering. It is this mental state that sanctions the adoption of goals and the acceptance of inferred plans, and so acts as a link between understanding and generation.Comment: 32 pages, 2 figures, to appear in Computation Linguistics 21-

Optimising ITS behaviour with Bayesian networks and decision theory

We propose and demonstrate a methodology for building tractable normative intelligent tutoring systems (ITSs). A normative ITS uses a Bayesian network for long-term student modelling and decision theory to select the next tutorial action. Because normative theories are a general framework for rational behaviour, they can be used to both define and apply learning theories in a rational, and therefore optimal, way. This contrasts to the more traditional approach of using an ad-hoc scheme to implement the learning theory. A key step of the methodology is the induction and the continual adaptation of the Bayesian network student model from student performance data, a step that is distinct from other recent Bayesian net approaches in which the network structure and probabilities are either chosen beforehand by an expert, or by efficiency considerations. The methodology is demonstrated by a description and evaluation of CAPIT, a normative constraint-based tutor for English capitalisation and punctuation. Our evaluation results show that a class using the full normative version of CAPIT learned the domain rules at a faster rate than the class that used a non-normative version of the same system

A Bayesian framework for optimal motion planning with uncertainty

Modeling robot motion planning with uncertainty in a Bayesian framework leads to a computationally intractable stochastic control problem. We seek hypotheses that can justify a separate implementation of control, localization and planning. In the end, we reduce the stochastic control problem to path- planning in the extended space of poses x covariances; the transitions between states are modeled through the use of the Fisher information matrix. In this framework, we consider two problems: minimizing the execution time, and minimizing the final covariance, with an upper bound on the execution time. Two correct and complete algorithms are presented. The first is the direct extension of classical graph-search algorithms in the extended space. The second one is a back-projection algorithm: uncertainty constraints are propagated backward from the goal towards the start state