13,325 research outputs found
Propagators and Solvers for the Algebra of Modular Systems
To appear in the proceedings of LPAR 21.
Solving complex problems can involve non-trivial combinations of distinct
knowledge bases and problem solvers. The Algebra of Modular Systems is a
knowledge representation framework that provides a method for formally
specifying such systems in purely semantic terms. Formally, an expression of
the algebra defines a class of structures. Many expressive formalism used in
practice solve the model expansion task, where a structure is given on the
input and an expansion of this structure in the defined class of structures is
searched (this practice overcomes the common undecidability problem for
expressive logics). In this paper, we construct a solver for the model
expansion task for a complex modular systems from an expression in the algebra
and black-box propagators or solvers for the primitive modules. To this end, we
define a general notion of propagators equipped with an explanation mechanism,
an extension of the alge- bra to propagators, and a lazy conflict-driven
learning algorithm. The result is a framework for seamlessly combining solving
technology from different domains to produce a solver for a combined system.Comment: To appear in the proceedings of LPAR 2
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EASe : integrating search with learned episodes
Weak methods are insufficient to solve complex problems. Constrained weak methods, like hill-climbing, search too little of the problem space. Unconstrained weak methods, like breadth-first search, are intractable. Fortunately, through the integration of multiple weak methods more powerful problem solvers can be created. We demonstrate that augmenting a weak constrained search method with episodes provides a tractable method for solving a large class of problems. We demonstrate that these episodes can be generated using an unconstrained weak method while solving simple problems from a domain. We provide an analytical model of our approach and empirical results from the logic synthesis domain of VLSI design as well as the classic tile-sliding domain
Building and Refining Abstract Planning Cases by Change of Representation Language
ion is one of the most promising approaches to improve the performance of
problem solvers. In several domains abstraction by dropping sentences of a
domain description -- as used in most hierarchical planners -- has proven
useful. In this paper we present examples which illustrate significant
drawbacks of abstraction by dropping sentences. To overcome these drawbacks, we
propose a more general view of abstraction involving the change of
representation language. We have developed a new abstraction methodology and a
related sound and complete learning algorithm that allows the complete change
of representation language of planning cases from concrete to abstract.
However, to achieve a powerful change of the representation language, the
abstract language itself as well as rules which describe admissible ways of
abstracting states must be provided in the domain model. This new abstraction
approach is the core of Paris (Plan Abstraction and Refinement in an Integrated
System), a system in which abstract planning cases are automatically learned
from given concrete cases. An empirical study in the domain of process planning
in mechanical engineering shows significant advantages of the proposed
reasoning from abstract cases over classical hierarchical planning.Comment: See http://www.jair.org/ for an online appendix and other files
accompanying this articl
Pushing the envelope of Optimization Modulo Theories with Linear-Arithmetic Cost Functions
In the last decade we have witnessed an impressive progress in the
expressiveness and efficiency of Satisfiability Modulo Theories (SMT) solving
techniques. This has brought previously-intractable problems at the reach of
state-of-the-art SMT solvers, in particular in the domain of SW and HW
verification. Many SMT-encodable problems of interest, however, require also
the capability of finding models that are optimal wrt. some cost functions. In
previous work, namely "Optimization Modulo Theory with Linear Rational Cost
Functions -- OMT(LAR U T )", we have leveraged SMT solving to handle the
minimization of cost functions on linear arithmetic over the rationals, by
means of a combination of SMT and LP minimization techniques. In this paper we
push the envelope of our OMT approach along three directions: first, we extend
it to work also with linear arithmetic on the mixed integer/rational domain, by
means of a combination of SMT, LP and ILP minimization techniques; second, we
develop a multi-objective version of OMT, so that to handle many cost functions
simultaneously; third, we develop an incremental version of OMT, so that to
exploit the incrementality of some OMT-encodable problems. An empirical
evaluation performed on OMT-encoded verification problems demonstrates the
usefulness and efficiency of these extensions.Comment: A slightly-shorter version of this paper is published at TACAS 2015
conferenc
Machine learning and its applications in reliability analysis systems
In this thesis, we are interested in exploring some aspects of Machine Learning (ML) and its application in the Reliability Analysis systems (RAs). We begin by investigating some ML paradigms and their- techniques, go on to discuss the possible applications of ML in improving RAs performance, and lastly give guidelines of the architecture of learning RAs. Our survey of ML covers both levels of Neural Network learning and Symbolic learning. In symbolic process learning, five types of learning and their applications are discussed: rote learning, learning from instruction, learning from analogy, learning from examples, and learning from observation and discovery. The Reliability Analysis systems (RAs) presented in this thesis are mainly designed for maintaining plant safety supported by two functions: risk analysis function, i.e., failure mode effect analysis (FMEA) ; and diagnosis function, i.e., real-time fault location (RTFL). Three approaches have been discussed in creating the RAs. According to the result of our survey, we suggest currently the best design of RAs is to embed model-based RAs, i.e., MORA (as software) in a neural network based computer system (as hardware). However, there are still some improvement which can be made through the applications of Machine Learning. By implanting the 'learning element', the MORA will become learning MORA (La MORA) system, a learning Reliability Analysis system with the power of automatic knowledge acquisition and inconsistency checking, and more. To conclude our thesis, we propose an architecture of La MORA
Towards Visual Ego-motion Learning in Robots
Many model-based Visual Odometry (VO) algorithms have been proposed in the
past decade, often restricted to the type of camera optics, or the underlying
motion manifold observed. We envision robots to be able to learn and perform
these tasks, in a minimally supervised setting, as they gain more experience.
To this end, we propose a fully trainable solution to visual ego-motion
estimation for varied camera optics. We propose a visual ego-motion learning
architecture that maps observed optical flow vectors to an ego-motion density
estimate via a Mixture Density Network (MDN). By modeling the architecture as a
Conditional Variational Autoencoder (C-VAE), our model is able to provide
introspective reasoning and prediction for ego-motion induced scene-flow.
Additionally, our proposed model is especially amenable to bootstrapped
ego-motion learning in robots where the supervision in ego-motion estimation
for a particular camera sensor can be obtained from standard navigation-based
sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through
experiments, we show the utility of our proposed approach in enabling the
concept of self-supervised learning for visual ego-motion estimation in
autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures,
2 table
Optimization Modulo Theories with Linear Rational Costs
In the contexts of automated reasoning (AR) and formal verification (FV),
important decision problems are effectively encoded into Satisfiability Modulo
Theories (SMT). In the last decade efficient SMT solvers have been developed
for several theories of practical interest (e.g., linear arithmetic, arrays,
bit-vectors). Surprisingly, little work has been done to extend SMT to deal
with optimization problems; in particular, we are not aware of any previous
work on SMT solvers able to produce solutions which minimize cost functions
over arithmetical variables. This is unfortunate, since some problems of
interest require this functionality.
In the work described in this paper we start filling this gap. We present and
discuss two general procedures for leveraging SMT to handle the minimization of
linear rational cost functions, combining SMT with standard minimization
techniques. We have implemented the procedures within the MathSAT SMT solver.
Due to the absence of competitors in the AR, FV and SMT domains, we have
experimentally evaluated our implementation against state-of-the-art tools for
the domain of linear generalized disjunctive programming (LGDP), which is
closest in spirit to our domain, on sets of problems which have been previously
proposed as benchmarks for the latter tools. The results show that our tool is
very competitive with, and often outperforms, these tools on these problems,
clearly demonstrating the potential of the approach.Comment: Submitted on january 2014 to ACM Transactions on Computational Logic,
currently under revision. arXiv admin note: text overlap with arXiv:1202.140
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