Abduction in Annotated Probabilistic Temporal Logic

Annotated Probabilistic Temporal (APT) logic programs are a form of logic programs that allow users to state (or systems to automatically learn)rules of the form ``formula G becomes true K time units after formula F became true with L to U% probability.\u27\u27 In this paper, we develop a theory of abduction for APT logic programs. Specifically, given an APT logic program Pi, a set of formulas H that can be ``added\u27\u27 to Pi, and a goal G, is there a subset S of H such that Pi cup S is consistent and entails the goal G? In this paper, we study the complexity of the Basic APT Abduction Problem (BAAP). We then leverage a geometric characterization of BAAP to suggest a set of pruning strategies when solving BAAP and use these intuitions to develop a sound and complete algorithm

Stochastic Reasoning with Action Probabilistic Logic Programs

In the real world, there is a constant need to reason about the behavior of various entities. A soccer goalie could benefit from information available about past penalty kicks by the same player facing him now. National security experts could benefit from the ability to reason about behaviors of terror groups. By applying behavioral models, an organization may get a better understanding about how best to target their efforts and achieve their goals. In this thesis, we propose action probabilistic logic (or ap-) programs, a formalism designed for reasoning about the probability of events whose inter-dependencies are unknown. We investigate how to use ap-programs to reason in the kinds of scenarios described above. Our approach is based on probabilistic logic programming, a well known formalism for reasoning under uncertainty, which has been shown to be highly flexible since it allows imprecise probabilities to be specified in the form of intervals that convey the inherent uncertainty in the knowledge. Furthermore, no independence assumptions are made, in contrast to many of the probabilistic reasoning formalisms that have been proposed. Up to now, all work in probabilistic logic programming has focused on the problem of entailment, i.e., verifying if a given formula follows from the available knowledge. In this thesis, we argue that other problems also need to be solved for this kind of reasoning. The three main problems we address are: Computing most probable worlds: what is the most likely set of actions given the current state of affairs?; answering abductive queries: how can we effect changes in the environment in order to evoke certain desired actions?; and Reasoning about promises: given the importance of promises and how they are fulfilled, how can we incorporate quantitative knowledge about promise fulfillment in ap-programs? We address different variants of these problems, propose exact and heuristic algorithms to scalably solve them, present empirical evaluations of their performance, and discuss their application in real world scenarios

REBA: A Refinement-Based Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture for robots that combines the complementary strengths of probabilistic graphical models and declarative programming to represent and reason with logic-based and probabilistic descriptions of uncertainty and domain knowledge. An action language is extended to support non-boolean fluents and non-deterministic causal laws. This action language is used to describe tightly-coupled transition diagrams at two levels of granularity, with a fine-resolution transition diagram defined as a refinement of a coarse-resolution transition diagram of the domain. The coarse-resolution system description, and a history that includes (prioritized) defaults, are translated into an Answer Set Prolog (ASP) program. For any given goal, inference in the ASP program provides a plan of abstract actions. To implement each such abstract action, the robot automatically zooms to the part of the fine-resolution transition diagram relevant to this action. A probabilistic representation of the uncertainty in sensing and actuation is then included in this zoomed fine-resolution system description, and used to construct a partially observable Markov decision process (POMDP). The policy obtained by solving the POMDP is invoked repeatedly to implement the abstract action as a sequence of concrete actions, with the corresponding observations being recorded in the coarse-resolution history and used for subsequent reasoning. The architecture is evaluated in simulation and on a mobile robot moving objects in an indoor domain, to show that it supports reasoning with violation of defaults, noisy observations and unreliable actions, in complex domains.Comment: 72 pages, 14 figure