A Developmental Organization for Robot Behavior

This paper focuses on exploring how learning and development can be structured in synthetic (robot) systems. We present a developmental assembler for constructing reusable and temporally extended actions in a sequence. The discussion adopts the traditions of dynamic pattern theory in which behavior is an artifact of coupled dynamical systems with a number of controllable degrees of freedom. In our model, the events that delineate control decisions are derived from the pattern of (dis)equilibria on a working subset of sensorimotor policies. We show how this architecture can be used to accomplish sequential knowledge gathering and representation tasks and provide examples of the kind of developmental milestones that this approach has already produced in our lab

Framing-effects approach: A theoretical and methodological critique

The article deals with research on framing effects. First, I will start with classifying different approaches on framing. Subsequently, I will provide a definition of the concepts of frame, schema and framing, expand on framing research conducted so far - both theoretically and operationally. Having this equipment at hand, I will initiate a discussion on studies of framing-effects in terms of theory, methods and empirical results. This discussion leads to the conclusion that studies on framing effects are insufficiently concerned with the more recent psychological constructs and theories. In merely focusing on the activation of schemata, most studies ignore the more elaborate types of framing-effects. Therefore, several empirical questions remain unanswered and some methodical chances seem to be wasted

Elements of latent learning in a maze environment

A general purpose learning program is described which demonstrates a latent learning ability by operating at two separate goal pursuit levels. At one level are the constant, implicit goals associated with the system's memory management mechanisms. At the higher level are the dynamic, explicit behavioral goals which the implicit goals enable by manipulating memory representations to conform to the external surroundings. The program is shown to negotiate a simulated maze environment by the step-wise refinement of its latently learned experiences

On Automating the Doctrine of Double Effect

The doctrine of double effect ($\mathcal{DDE}$) is a long-studied ethical principle that governs when actions that have both positive and negative effects are to be allowed. The goal in this paper is to automate $\mathcal{DDE}$. We briefly present $\mathcal{DDE}$, and use a first-order modal logic, the deontic cognitive event calculus, as our framework to formalize the doctrine. We present formalizations of increasingly stronger versions of the principle, including what is known as the doctrine of triple effect. We then use our framework to simulate successfully scenarios that have been used to test for the presence of the principle in human subjects. Our framework can be used in two different modes: One can use it to build $\mathcal{DDE}$-compliant autonomous systems from scratch, or one can use it to verify that a given AI system is $\mathcal{DDE}$-compliant, by applying a $\mathcal{DDE}$ layer on an existing system or model. For the latter mode, the underlying AI system can be built using any architecture (planners, deep neural networks, bayesian networks, knowledge-representation systems, or a hybrid); as long as the system exposes a few parameters in its model, such verification is possible. The role of the $\mathcal{DDE}$ layer here is akin to a (dynamic or static) software verifier that examines existing software modules. Finally, we end by presenting initial work on how one can apply our $\mathcal{DDE}$ layer to the STRIPS-style planning model, and to a modified POMDP model.This is preliminary work to illustrate the feasibility of the second mode, and we hope that our initial sketches can be useful for other researchers in incorporating DDE in their own frameworks.Comment: 26th International Joint Conference on Artificial Intelligence 2017; Special Track on AI & Autonom

Understanding creativity

We have never seen creativity. More precisely, we have never seen the creative process; what we have seen is the creative individual (ex ante) and the outcome of creativity (ex post). Therefore we try to understand creativity by examining creative individuals and their creations. In this paper we only consider the creation of new knowledge. We draw on a wide variety of backgrounds. We wander into the area of cognitive psychology to investigate who is talented for creativity. We also draw on arts, history and philosophy of science, stories of mystics, some great novels and essays we have read as well as our experience in both working with creatives and creating new knowledge. Based on this shaky foundation we will describe creativity as illumination, through jokes, as a quest for harmony, as being kissed by the muse

Forgetting Exceptions is Harmful in Language Learning

We show that in language learning, contrary to received wisdom, keeping exceptional training instances in memory can be beneficial for generalization accuracy. We investigate this phenomenon empirically on a selection of benchmark natural language processing tasks: grapheme-to-phoneme conversion, part-of-speech tagging, prepositional-phrase attachment, and base noun phrase chunking. In a first series of experiments we combine memory-based learning with training set editing techniques, in which instances are edited based on their typicality and class prediction strength. Results show that editing exceptional instances (with low typicality or low class prediction strength) tends to harm generalization accuracy. In a second series of experiments we compare memory-based learning and decision-tree learning methods on the same selection of tasks, and find that decision-tree learning often performs worse than memory-based learning. Moreover, the decrease in performance can be linked to the degree of abstraction from exceptions (i.e., pruning or eagerness). We provide explanations for both results in terms of the properties of the natural language processing tasks and the learning algorithms.Comment: 31 pages, 7 figures, 10 tables. uses 11pt, fullname, a4wide tex styles. Pre-print version of article to appear in Machine Learning 11:1-3, Special Issue on Natural Language Learning. Figures on page 22 slightly compressed to avoid page overloa

Constructing Conditional Plans by a Theorem-Prover

The research on conditional planning rejects the assumptions that there is no uncertainty or incompleteness of knowledge with respect to the state and changes of the system the plans operate on. Without these assumptions the sequences of operations that achieve the goals depend on the initial state and the outcomes of nondeterministic changes in the system. This setting raises the questions of how to represent the plans and how to perform plan search. The answers are quite different from those in the simpler classical framework. In this paper, we approach conditional planning from a new viewpoint that is motivated by the use of satisfiability algorithms in classical planning. Translating conditional planning to formulae in the propositional logic is not feasible because of inherent computational limitations. Instead, we translate conditional planning to quantified Boolean formulae. We discuss three formalizations of conditional planning as quantified Boolean formulae, and present experimental results obtained with a theorem-prover