REBA: A Refinement-Based Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture for robots that combines the complementary strengths of probabilistic graphical models and declarative programming to represent and reason with logic-based and probabilistic descriptions of uncertainty and domain knowledge. An action language is extended to support non-boolean fluents and non-deterministic causal laws. This action language is used to describe tightly-coupled transition diagrams at two levels of granularity, with a fine-resolution transition diagram defined as a refinement of a coarse-resolution transition diagram of the domain. The coarse-resolution system description, and a history that includes (prioritized) defaults, are translated into an Answer Set Prolog (ASP) program. For any given goal, inference in the ASP program provides a plan of abstract actions. To implement each such abstract action, the robot automatically zooms to the part of the fine-resolution transition diagram relevant to this action. A probabilistic representation of the uncertainty in sensing and actuation is then included in this zoomed fine-resolution system description, and used to construct a partially observable Markov decision process (POMDP). The policy obtained by solving the POMDP is invoked repeatedly to implement the abstract action as a sequence of concrete actions, with the corresponding observations being recorded in the coarse-resolution history and used for subsequent reasoning. The architecture is evaluated in simulation and on a mobile robot moving objects in an indoor domain, to show that it supports reasoning with violation of defaults, noisy observations and unreliable actions, in complex domains.Comment: 72 pages, 14 figure

Using Kernel Perceptrons to Learn Action Effects for Planning

Abstract — We investigate the problem of learning action effects in STRIPS and ADL planning domains. Our approach is based on a kernel perceptron learning model, where action and state information is encoded in a compact vector representation as input to the learning mechanism, and resulting state changes are produced as output. Empirical results of our approach indicate efficient training and prediction times, with low average error rates (< 3%) when tested on STRIPS and ADL versions of an object manipulation scenario. This work is part of a project to integrate machine learning techniques with a planning system, as part of a larger cognitive architecture linking a highlevel reasoning component with a low-level robot/vision system. I

Formal foundations for semantic theories of nominalisation

This paper develops the formal foundations of semantic theories dealing with various kinds of nominalisations. It introduces a combination of an event-calculus with a type-free theory which allows a compositional description to be given of such phenomena like Vendler's distinction between perfect and imperfect nominals, iteration of gerunds and Cresswell's notorious non-urrival of'the train examples. Moreover, the approach argued for in this paper allows a semantic explanation to be given for a wide range of grammatical observations such as the behaviour of certain tpes of nominals with respect to their verbal contexts or the distribution of negation in nominals

Programming in logic without logic programming

In previous work, we proposed a logic-based framework in which computation is the execution of actions in an attempt to make reactive rules of the form if antecedent then consequent true in a canonical model of a logic program determined by an initial state, sequence of events, and the resulting sequence of subsequent states. In this model-theoretic semantics, reactive rules are the driving force, and logic programs play only a supporting role. In the canonical model, states, actions and other events are represented with timestamps. But in the operational semantics, for the sake of efficiency, timestamps are omitted and only the current state is maintained. State transitions are performed reactively by executing actions to make the consequents of rules true whenever the antecedents become true. This operational semantics is sound, but incomplete. It cannot make reactive rules true by preventing their antecedents from becoming true, or by proactively making their consequents true before their antecedents become true. In this paper, we characterize the notion of reactive model, and prove that the operational semantics can generate all and only such models. In order to focus on the main issues, we omit the logic programming component of the framework.Comment: Under consideration in Theory and Practice of Logic Programming (TPLP

Answer Set Planning Under Action Costs

Recently, planning based on answer set programming has been proposed as an approach towards realizing declarative planning systems. In this paper, we present the language Kc, which extends the declarative planning language K by action costs. Kc provides the notion of admissible and optimal plans, which are plans whose overall action costs are within a given limit resp. minimum over all plans (i.e., cheapest plans). As we demonstrate, this novel language allows for expressing some nontrivial planning tasks in a declarative way. Furthermore, it can be utilized for representing planning problems under other optimality criteria, such as computing ``shortest'' plans (with the least number of steps), and refinement combinations of cheapest and fastest plans. We study complexity aspects of the language Kc and provide a transformation to logic programs, such that planning problems are solved via answer set programming. Furthermore, we report experimental results on selected problems. Our experience is encouraging that answer set planning may be a valuable approach to expressive planning systems in which intricate planning problems can be naturally specified and solved