9,215 research outputs found
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task
Programming (NTP), which bridges the idea of few-shot learning from
demonstration and neural program induction. NTP takes as input a task
specification (e.g., video demonstration of a task) and recursively decomposes
it into finer sub-task specifications. These specifications are fed to a
hierarchical neural program, where bottom-level programs are callable
subroutines that interact with the environment. We validate our method in three
robot manipulation tasks. NTP achieves strong generalization across sequential
tasks that exhibit hierarchal and compositional structures. The experimental
results show that NTP learns to generalize well to- wards unseen tasks with
increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201
Combining k-Induction with Continuously-Refined Invariants
Bounded model checking (BMC) is a well-known and successful technique for
finding bugs in software. k-induction is an approach to extend BMC-based
approaches from falsification to verification. Automatically generated
auxiliary invariants can be used to strengthen the induction hypothesis. We
improve this approach and further increase effectiveness and efficiency in the
following way: we start with light-weight invariants and refine these
invariants continuously during the analysis. We present and evaluate an
implementation of our approach in the open-source verification-framework
CPAchecker. Our experiments show that combining k-induction with
continuously-refined invariants significantly increases effectiveness and
efficiency, and outperforms all existing implementations of k-induction-based
software verification in terms of successful verification results.Comment: 12 pages, 5 figures, 2 tables, 2 algorithm
Complexity of Nested Circumscription and Nested Abnormality Theories
The need for a circumscriptive formalism that allows for simple yet elegant
modular problem representation has led Lifschitz (AIJ, 1995) to introduce
nested abnormality theories (NATs) as a tool for modular knowledge
representation, tailored for applying circumscription to minimize exceptional
circumstances. Abstracting from this particular objective, we propose L_{CIRC},
which is an extension of generic propositional circumscription by allowing
propositional combinations and nesting of circumscriptive theories. As shown,
NATs are naturally embedded into this language, and are in fact of equal
expressive capability. We then analyze the complexity of L_{CIRC} and NATs, and
in particular the effect of nesting. The latter is found to be a source of
complexity, which climbs the Polynomial Hierarchy as the nesting depth
increases and reaches PSPACE-completeness in the general case. We also identify
meaningful syntactic fragments of NATs which have lower complexity. In
particular, we show that the generalization of Horn circumscription in the NAT
framework remains CONP-complete, and that Horn NATs without fixed letters can
be efficiently transformed into an equivalent Horn CNF, which implies
polynomial solvability of principal reasoning tasks. Finally, we also study
extensions of NATs and briefly address the complexity in the first-order case.
Our results give insight into the ``cost'' of using L_{CIRC} (resp. NATs) as a
host language for expressing other formalisms such as action theories,
narratives, or spatial theories.Comment: A preliminary abstract of this paper appeared in Proc. Seventeenth
International Joint Conference on Artificial Intelligence (IJCAI-01), pages
169--174. Morgan Kaufmann, 200
Abstracting Asynchronous Multi-Valued Networks: An Initial Investigation
Multi-valued networks provide a simple yet expressive qualitative state based
modelling approach for biological systems. In this paper we develop an
abstraction theory for asynchronous multi-valued network models that allows the
state space of a model to be reduced while preserving key properties of the
model. The abstraction theory therefore provides a mechanism for coping with
the state space explosion problem and supports the analysis and comparison of
multi-valued networks. We take as our starting point the abstraction theory for
synchronous multi-valued networks which is based on the finite set of traces
that represent the behaviour of such a model. The problem with extending this
approach to the asynchronous case is that we can now have an infinite set of
traces associated with a model making a simple trace inclusion test infeasible.
To address this we develop a decision procedure for checking asynchronous
abstractions based on using the finite state graph of an asynchronous
multi-valued network to reason about its trace semantics. We illustrate the
abstraction techniques developed by considering a detailed case study based on
a multi-valued network model of the regulation of tryptophan biosynthesis in
Escherichia coli.Comment: Presented at MeCBIC 201
Discovery-led refinement in e-discovery investigations: sensemaking, cognitive ergonomics and system design.
Given the very large numbers of documents involved in e-discovery investigations, lawyers face a considerable challenge of collaborative sensemaking. We report findings from three workplace studies which looked at different aspects of how this challenge was met. From a sociotechnical perspective, the studies aimed to understand how investigators collectively and individually worked with information to support sensemaking and decision making. Here, we focus on discovery-led refinement; specifically, how engaging with the materials of the investigations led to discoveries that supported refinement of the problems and new strategies for addressing them. These refinements were essential for tractability. We begin with observations which show how new lines of enquiry were recursively embedded. We then analyse the conceptual structure of a line of enquiry and consider how reflecting this in e-discovery support systems might support scalability and group collaboration. We then focus on the individual activity of manual document review where refinement corresponded with the inductive identification of classes of irrelevant and relevant documents within a collection. Our observations point to the effects of priming on dealing with these efficiently and to issues of cognitive ergonomics at the human–computer interface. We use these observations to introduce visualisations that might enable reviewers to deal with such refinements more efficiently
- …