Inductive learning of answer set programs

The goal of Inductive Logic Programming (ILP) is to find a hypothesis that explains a set of examples in the context of some pre-existing background knowledge. Until recently, most research on ILP targeted learning definite logic programs. This thesis constitutes the first comprehensive work on learning answer set programs, introducing new learning frameworks, theoretical results on the complexity and generality of these frameworks, algorithms for learning ASP programs, and an extensive evaluation of these algorithms. Although there is previous work on learning ASP programs, existing learning frameworks are either brave -- where examples should be explained by at least one answer set -- or cautious where examples should be explained by all answer sets. There are cases where brave induction is too weak and cautious induction is too strong. Our proposed frameworks combine brave and cautious learning and can learn ASP programs containing choice rules and constraints. Many applications of ASP use weak constraints to express a preference ordering over the answer sets of a program. Learning weak constraints corresponds to preference learning, which we achieve by introducing ordering examples. We then explore the generality of our frameworks, investigating what it means for a framework to be general enough to distinguish one hypothesis from another. We show that our frameworks are more general than both brave and cautious induction. We also present a new family of algorithms, called ILASP (Inductive Learning of Answer Set Programs), which we prove to be sound and complete. This work concerns learning from both non-noisy and noisy examples. In the latter case, ILASP returns a hypothesis that maximises the coverage of examples while minimising the length of the hypothesis. In our evaluation, we show that ILASP scales to tasks with large numbers of examples finding accurate hypotheses even in the presence of high proportions of noisy examples.Open Acces

Learning Weak Constraints in Answer Set Programming

This paper contributes to the area of inductive logic programming by presenting a new learning framework that allows the learning of weak constraints in Answer Set Programming (ASP). The framework, called Learning from Ordered Answer Sets, generalises our previous work on learning ASP programs without weak constraints, by considering a new notion of examples as ordered pairs of partial answer sets that exemplify which answer sets of a learned hypothesis (together with a given background knowledge) are preferred to others. In this new learning task inductive solutions are searched within a hypothesis space of normal rules, choice rules, and hard and weak constraints. We propose a new algorithm, ILASP2, which is sound and complete with respect to our new learning framework. We investigate its applicability to learning preferences in an interview scheduling problem and also demonstrate that when restricted to the task of learning ASP programs without weak constraints, ILASP2 can be much more efficient than our previously proposed system.Comment: To appear in Theory and Practice of Logic Programming (TPLP), Proceedings of ICLP 201

Inductive learning of answer set programs for autonomous surgical task planning

The quality of robot-assisted surgery can be improved and the use of hospital resources can be optimized by enhancing autonomy and reliability in the robot’s operation. Logic programming is a good choice for task planning in robot-assisted surgery because it supports reliable reasoning with domain knowledge and increases transparency in the decision making. However, prior knowledge of the task and the domain is typically incomplete, and it often needs to be refined from executions of the surgical task(s) under consideration to avoid sub-optimal performance. In this paper, we investigate the applicability of inductive logic programming for learning previously unknown axioms governing domain dynamics. We do so under answer set semantics for a benchmark surgical training task, the ring transfer. We extend our previous work on learning the immediate preconditions of actions and constraints, to also learn axioms encoding arbitrary temporal delays between atoms that are effects of actions under the event calculus formalism. We propose a systematic approach for learning the specifications of a generic robotic task under the answer set semantics, allowing easy knowledge refinement with iterative learning. In the context of 1000 simulated scenarios, we demonstrate the significant improvement in performance obtained with the learned axioms compared with the hand-written ones; specifically, the learned axioms address some critical issues related to the plan computation time, which is promising for reliable real-time performance during surgery

The complexity and generality of learning answer set programs

Traditionally most of the work in the field of Inductive Logic Programming (ILP) has addressed the problem of learning Prolog programs. On the other hand, Answer Set Programming is increasingly being used as a powerful language for knowledge representation and reasoning, and is also gaining increasing attention in industry. Consequently, the research activity in ILP has widened to the area of Answer Set Programming, witnessing the proposal of several new learning frameworks that have extended ILP to learning answer set programs. In this paper, we investigate the theoretical properties of these existing frameworks for learning programs under the answer set semantics. Specifically, we present a detailed analysis of the computational complexity of each of these frameworks with respect to the two decision problems of deciding whether a hypothesis is a solution of a learning task and deciding whether a learning task has any solutions. We introduce a new notion of generality of a learning framework, which enables us to define a framework to be more general than another in terms of being able to distinguish one ASP hypothesis solution from a set of incorrect ASP programs. Based on this notion, we formally prove a generality relation over the set of existing frameworks for learning programs under answer set semantics. In particular, we show that our recently proposed framework, Context-dependent Learning from Ordered Answer Sets, is more general than brave induction, induction of stable models, and cautious induction, and maintains the same complexity as cautious induction, which has the highest complexity of these frameworks

Learning programs by learning from failures

We describe an inductive logic programming (ILP) approach called learning from failures. In this approach, an ILP system (the learner) decomposes the learning problem into three separate stages: generate, test, and constrain. In the generate stage, the learner generates a hypothesis (a logic program) that satisfies a set of hypothesis constraints (constraints on the syntactic form of hypotheses). In the test stage, the learner tests the hypothesis against training examples. A hypothesis fails when it does not entail all the positive examples or entails a negative example. If a hypothesis fails, then, in the constrain stage, the learner learns constraints from the failed hypothesis to prune the hypothesis space, i.e. to constrain subsequent hypothesis generation. For instance, if a hypothesis is too general (entails a negative example), the constraints prune generalisations of the hypothesis. If a hypothesis is too specific (does not entail all the positive examples), the constraints prune specialisations of the hypothesis. This loop repeats until either (i) the learner finds a hypothesis that entails all the positive and none of the negative examples, or (ii) there are no more hypotheses to test. We introduce Popper, an ILP system that implements this approach by combining answer set programming and Prolog. Popper supports infinite problem domains, reasoning about lists and numbers, learning textually minimal programs, and learning recursive programs. Our experimental results on three domains (toy game problems, robot strategies, and list transformations) show that (i) constraints drastically improve learning performance, and (ii) Popper can outperform existing ILP systems, both in terms of predictive accuracies and learning times.Comment: Accepted for the machine learning journa