Decision-Theoretic Planning with Linguistic Terms in GOLOG

Abstract In this paper we propose an extension of the action language GOLOG that integrates linguistic terms in non-deterministic argument choices and the reward function for decision-theoretic planning. It is often cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, specifying a reward function is not always easy, even for domain experts. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in GOLOG, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy fluents. In GOLOG's forwardsearch DT planning algorithm, these formulas are evaluated in order to find the agent's optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

Logic programming for deliberative robotic task planning

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. It combines elementary operations into a structured plan to satisfy a prescribed goal, given specifications on the robot and the environment. In this manuscript, we present a survey on recent advances in the application of logic programming to the problem of task planning. Logic programming offers several advantages compared to other approaches, including greater expressivity and interpretability which may aid in the development of safe and reliable robots. We analyze different planners and their suitability for specific robotic applications, based on expressivity in domain representation, computational efficiency and software implementation. In this way, we support the robotic designer in choosing the best tool for his application

Interpretable task planning and learning for autonomous robotic surgery with logic programming

This thesis addresses the long-term goal of full (supervised) autonomy in surgery, characterized by dynamic environmental (anatomical) conditions, unpredictable workflow of execution and workspace constraints. The scope is to reach autonomy at the level of sub-tasks of a surgical procedure, i.e. repetitive, yet tedious operations (e.g., dexterous manipulation of small objects in a constrained environment, as needle and wire for suturing). This will help reducing time of execution, hospital costs and fatigue of surgeons during the whole procedure, while further improving the recovery time for the patients. A novel framework for autonomous surgical task execution is presented in the first part of this thesis, based on answer set programming (ASP), a logic programming paradigm, for task planning (i.e., coordination of elementary actions and motions). Logic programming allows to directly encode surgical task knowledge, representing emph{plan reasoning methodology} rather than a set of pre-defined plans. This solution introduces several key advantages, as reliable human-like interpretable plan generation, real-time monitoring of the environment and the workflow for ready adaptation and failure recovery. Moreover, an extended review of logic programming for robotics is presented, motivating the choice of ASP for surgery and providing an useful guide for robotic designers. In the second part of the thesis, a novel framework based on inductive logic programming (ILP) is presented for surgical task knowledge learning and refinement. ILP guarantees fast learning from very few examples, a common drawback of surgery. Also, a novel action identification algorithm is proposed based on automatic environmental feature extraction from videos, dealing for the first time with small and noisy datasets collecting different workflows of executions under environmental variations. This allows to define a systematic methodology for unsupervised ILP. All the results in this thesis are validated on a non-standard version of the benchmark training ring transfer task for surgeons, which mimics some of the challenges of real surgery, e.g. constrained bimanual motion in small space

A Biologically Inspired Approach for Robot Depth Estimation

Aimed at building autonomous service robots, reasoning, perception, and action should be properly integrated. In this paper, the depth cue has been analysed as an early stage given its importance for robotic tasks. So, from neuroscience findings, a hierarchical four-level dorsal architecture has been designed and implemented. Mainly, from a stereo image pair, a set of complex Gabor filters is applied for estimating an egocentric quantitative disparity map. This map leads to a quantitative depth scene representation that provides the raw input for a qualitative approach. So, the reasoning method infers the data required to make the right decision at any time. As it will be shown, the experimental results highlight the robust performance of the biologically inspired approach presented in this paper.This paper describes research done at UJI Robotic Intelligence Laboratory. Support for this laboratory was provided in part by Ministerio de Economía y Competitividad (DPI2015-69041-R) and by Universitat Jaume I

Housekeeping with multiple autonomous robots: representation, reasoning, and execution

We consider a housekeeping domain with static or movable objects, where the goal is for multiple autonomous robots to tidy a house collaboratively in a given amount of time. This domain is challenging in the following ways: commonsense knowledge (e.g., expected locations of objects in the house) is required for intelligent behavior of robots; geometric constraints are required to find feasible plans (e.g., to avoid collisions); in case of plan failure while execution (e.g., due to a collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted by a single robot), recovery is required depending on the cause of failure; and collaboration of robots is required to complete some tasks (e.g., carrying heavy objects). We introduce a formal planning, execution and monitoring framework to address the challenges of this domain, by embedding knowledge representation and automated reasoning in each level of decision-making (that consists of discrete task planning, continuous motion planning, and plan execution), in such a way as to tightly integrate these levels. At the high-level, we represent not only actions and change but also commonsense knowledge in a logicbased formalism. Geometric reasoning is lifted to the high-level by embedding motion planning in the domain description. Then a discrete plan is computed for each robot using an automated reasoner. At the mid-level, if a continuous trajectory cannot be computed by a motion planner because the discrete plan is not feasible at the continuous-level, then a different plan is computed by the automated reasoner subject to some (temporal) conditions represented as formulas. At the low-level, if the plan execution fails, then a new continuous trajectory is computed by a motion planner at the mid-level or a new discrete plan is computed using an automated reasoner at the high-level. We illustrate the applicability of this formal framework with a simulation of a housekeeping domain

A belief-desire-intention architechture with a logic-based planner for agents in stochastic domains

This dissertation investigates high-level decision making for agents that are both goal and utility driven. We develop a partially observable Markov decision process (POMDP) planner which is an extension of an agent programming language called DTGolog, itself an extension of the Golog language. Golog is based on a logic for reasoning about action—the situation calculus. A POMDP planner on its own cannot cope well with dynamically changing environments and complicated goals. This is exactly a strength of the belief-desire-intention (BDI) model: BDI theory has been developed to design agents that can select goals intelligently, dynamically abandon and adopt new goals, and yet commit to intentions for achieving goals. The contribution of this research is twofold: (1) developing a relational POMDP planner for cognitive robotics, (2) specifying a preliminary BDI architecture that can deal with stochasticity in action and perception, by employing the planner.ComputingM. Sc. (Computer Science

Ami-deu : un cadre sémantique pour des applications adaptables dans des environnements intelligents

Cette thèse vise à étendre l’utilisation de l'Internet des objets (IdO) en facilitant le développement d’applications par des personnes non experts en développement logiciel. La thèse propose une nouvelle approche pour augmenter la sémantique des applications d’IdO et l’implication des experts du domaine dans le développement d’applications sensibles au contexte. Notre approche permet de gérer le contexte changeant de l’environnement et de générer des applications qui s’exécutent dans plusieurs environnements intelligents pour fournir des actions requises dans divers contextes. Notre approche est mise en œuvre dans un cadriciel (AmI-DEU) qui inclut les composants pour le développement d’applications IdO. AmI-DEU intègre les services d’environnement, favorise l’interaction de l’utilisateur et fournit les moyens de représenter le domaine d’application, le profil de l’utilisateur et les intentions de l’utilisateur. Le cadriciel permet la définition d’applications IoT avec une intention d’activité autodécrite qui contient les connaissances requises pour réaliser l’activité. Ensuite, le cadriciel génère Intention as a Context (IaaC), qui comprend une intention d’activité autodécrite avec des connaissances colligées à évaluer pour une meilleure adaptation dans des environnements intelligents. La sémantique de l’AmI-DEU est basée sur celle du ContextAA (Context-Aware Agents) – une plateforme pour fournir une connaissance du contexte dans plusieurs environnements. Le cadriciel effectue une compilation des connaissances par des règles et l'appariement sémantique pour produire des applications IdO autonomes capables de s’exécuter en ContextAA. AmI- DEU inclut également un outil de développement visuel pour le développement et le déploiement rapide d'applications sur ContextAA. L'interface graphique d’AmI-DEU adopte la métaphore du flux avec des aides visuelles pour simplifier le développement d'applications en permettant des définitions de règles étape par étape. Dans le cadre de l’expérimentation, AmI-DEU comprend un banc d’essai pour le développement d’applications IdO. Les résultats expérimentaux montrent une optimisation sémantique potentielle des ressources pour les applications IoT dynamiques dans les maisons intelligentes et les villes intelligentes. Notre approche favorise l'adoption de la technologie pour améliorer le bienêtre et la qualité de vie des personnes. Cette thèse se termine par des orientations de recherche que le cadriciel AmI-DEU dévoile pour réaliser des environnements intelligents omniprésents fournissant des adaptations appropriées pour soutenir les intentions des personnes.Abstract: This thesis aims at expanding the use of the Internet of Things (IoT) by facilitating the development of applications by people who are not experts in software development. The thesis proposes a new approach to augment IoT applications’ semantics and domain expert involvement in context-aware application development. Our approach enables us to manage the changing environment context and generate applications that run in multiple smart environments to provide required actions in diverse settings. Our approach is implemented in a framework (AmI-DEU) that includes the components for IoT application development. AmI- DEU integrates environment services, promotes end-user interaction, and provides the means to represent the application domain, end-user profile, and end-user intentions. The framework enables the definition of IoT applications with a self-described activity intention that contains the required knowledge to achieve the activity. Then, the framework generates Intention as a Context (IaaC), which includes a self-described activity intention with compiled knowledge to be assessed for augmented adaptations in smart environments. AmI-DEU framework semantics adopts ContextAA (Context-Aware Agents) – a platform to provide context-awareness in multiple environments. The framework performs a knowledge compilation by rules and semantic matching to produce autonomic IoT applications to run in ContextAA. AmI-DEU also includes a visual tool for quick application development and deployment to ContextAA. The AmI-DEU GUI adopts the flow metaphor with visual aids to simplify developing applications by allowing step-by-step rule definitions. As part of the experimentation, AmI-DEU includes a testbed for IoT application development. Experimental results show a potential semantic optimization for dynamic IoT applications in smart homes and smart cities. Our approach promotes technology adoption to improve people’s well-being and quality of life. This thesis concludes with research directions that the AmI-DEU framework uncovers to achieve pervasive smart environments providing suitable adaptations to support people’s intentions

Grounding the Interaction : Knowledge Management for Interactive Robots

Avec le développement de la robotique cognitive, le besoin d’outils avancés pour représenter, manipuler, raisonner sur les connaissances acquises par un robot a clairement été mis en avant. Mais stocker et manipuler des connaissances requiert tout d’abord d’éclaircir ce que l’on nomme connaissance pour un robot, et comment celle-ci peut-elle être représentée de manière intelligible pour une machine. \ud \ud Ce travail s’efforce dans un premier temps d’identifier de manière systématique les besoins en terme de représentation de connaissance des applications robotiques modernes, dans le contexte spécifique de la robotique de service et des interactions homme-robot. Nous proposons une typologie originale des caractéristiques souhaitables des systèmes de représentation des connaissances, appuyée sur un état de l’art détaillé des outils existants dans notre communauté. \ud \ud Dans un second temps, nous présentons en profondeur ORO, une instanciation particulière d’un système de représentation et manipulation des connaissances, conçu et implémenté durant la préparation de cette thèse. Nous détaillons le fonctionnement interne du système, ainsi que son intégration dans plusieurs architectures robotiques complètes. Un éclairage particulier est donné sur la modélisation de la prise de perspective dans le contexte de l’interaction, et de son interprétation en terme de théorie de l’esprit. \ud \ud La troisième partie de l’étude porte sur une application importante des systèmes de représentation des connaissances dans ce contexte de l’interaction homme-robot : le traitement du dialogue situé. Notre approche et les algorithmes qui amènent à l’ancrage interactif de la communication verbale non contrainte sont présentés, suivis de plusieurs expériences menées au Laboratoire d’Analyse et d’Architecture des Systèmes au CNRS à Toulouse, et au groupe Intelligent Autonomous System de l’université technique de Munich. Nous concluons cette thèse sur un certain nombre de considérations sur la viabilité et l’importance d’une gestion explicite des connaissances des agents, ainsi que par une réflexion sur les éléments encore manquant pour réaliser le programme d’une robotique “de niveau humain”.-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------With the rise of the so-called cognitive robotics, the need of advanced tools to store, manipulate, reason about the knowledge acquired by the robot has been made clear. But storing and manipulating knowledge requires first to understand what the knowledge itself means to the robot and how to represent it in a machine-processable way. \ud \ud This work strives first at providing a systematic study of the knowledge requirements of modern robotic applications in the context of service robotics and human-robot interaction. What are the expressiveness requirement for a robot? what are its needs in term of reasoning techniques? what are the requirement on the robot's knowledge processing structure induced by other cognitive functions like perception or decision making? We propose a novel typology of desirable features for knowledge representation systems supported by an extensive review of existing tools in our community. \ud \ud In a second part, the thesis presents in depth a particular instantiation of a knowledge representation and manipulation system called ORO, that has been designed and implemented during the preparation of the thesis. We elaborate on the inner working of this system, as well as its integration into several complete robot control stacks. A particular focus is given to the modelling of agent-dependent symbolic perspectives and their relations to theories of mind. \ud \ud The third part of the study is focused on the presentation of one important application of knowledge representation systems in the human-robot interaction context: situated dialogue. Our approach and associated algorithms leading to the interactive grounding of unconstrained verbal communication are presented, followed by several experiments that have taken place both at the Laboratoire d'Analyse et d'Architecture des Systèmes at CNRS, Toulouse and at the Intelligent Autonomous System group at Munich Technical University. \ud \ud The thesis concludes on considerations regarding the viability and importance of an explicit management of the agent's knowledge, along with a reflection on the missing bricks in our research community on the way towards "human level robots". \ud \u