Probabilistic Multilevel Clustering via Composite Transportation Distance

We propose a novel probabilistic approach to multilevel clustering problems based on composite transportation distance, which is a variant of transportation distance where the underlying metric is Kullback-Leibler divergence. Our method involves solving a joint optimization problem over spaces of probability measures to simultaneously discover grouping structures within groups and among groups. By exploiting the connection of our method to the problem of finding composite transportation barycenters, we develop fast and efficient optimization algorithms even for potentially large-scale multilevel datasets. Finally, we present experimental results with both synthetic and real data to demonstrate the efficiency and scalability of the proposed approach.Comment: 25 pages, 3 figure

Logic-Based Decision Support for Strategic Environmental Assessment

Strategic Environmental Assessment is a procedure aimed at introducing systematic assessment of the environmental effects of plans and programs. This procedure is based on the so-called coaxial matrices that define dependencies between plan activities (infrastructures, plants, resource extractions, buildings, etc.) and positive and negative environmental impacts, and dependencies between these impacts and environmental receptors. Up to now, this procedure is manually implemented by environmental experts for checking the environmental effects of a given plan or program, but it is never applied during the plan/program construction. A decision support system, based on a clear logic semantics, would be an invaluable tool not only in assessing a single, already defined plan, but also during the planning process in order to produce an optimized, environmentally assessed plan and to study possible alternative scenarios. We propose two logic-based approaches to the problem, one based on Constraint Logic Programming and one on Probabilistic Logic Programming that could be, in the future, conveniently merged to exploit the advantages of both. We test the proposed approaches on a real energy plan and we discuss their limitations and advantages.Comment: 17 pages, 1 figure, 26th Int'l. Conference on Logic Programming (ICLP'10

Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by most action models used in AI planning: the temporal structure of continuous control processes, their non-deterministic effects, several modes of their interferences, and the achievement of triggering conditions in closed-loop robot plans. The main contributions of this article are: (1) PHAMs, a model of concurrent percept-driven behavior, its formalization, and proofs that the model generates probably, qualitatively accurate predictions; and (2) a resource-efficient inference method for PHAMs based on sampling projections from probabilistic action models and state descriptions. We show how PHAMs can be applied to planning the course of action of an autonomous robot office courier based on analytical and experimental results