An Approach to Operationalize Regulative Norms in Multiagent Systems

International audienc

Mapping Instructions and Visual Observations to Actions with Reinforcement Learning

We propose to directly map raw visual observations and text input to actions for instruction execution. While existing approaches assume access to structured environment representations or use a pipeline of separately trained models, we learn a single model to jointly reason about linguistic and visual input. We use reinforcement learning in a contextual bandit setting to train a neural network agent. To guide the agent's exploration, we use reward shaping with different forms of supervision. Our approach does not require intermediate representations, planning procedures, or training different models. We evaluate in a simulated environment, and show significant improvements over supervised learning and common reinforcement learning variants.Comment: In Proceedings of the Conference on Empirical Methods in Natural Language Processing (EMNLP), 201

Intrinsically Motivated Goal Exploration Processes with Automatic Curriculum Learning

Intrinsically motivated spontaneous exploration is a key enabler of autonomous lifelong learning in human children. It enables the discovery and acquisition of large repertoires of skills through self-generation, self-selection, self-ordering and self-experimentation of learning goals. We present an algorithmic approach called Intrinsically Motivated Goal Exploration Processes (IMGEP) to enable similar properties of autonomous or self-supervised learning in machines. The IMGEP algorithmic architecture relies on several principles: 1) self-generation of goals, generalized as fitness functions; 2) selection of goals based on intrinsic rewards; 3) exploration with incremental goal-parameterized policy search and exploitation of the gathered data with a batch learning algorithm; 4) systematic reuse of information acquired when targeting a goal for improving towards other goals. We present a particularly efficient form of IMGEP, called Modular Population-Based IMGEP, that uses a population-based policy and an object-centered modularity in goals and mutations. We provide several implementations of this architecture and demonstrate their ability to automatically generate a learning curriculum within several experimental setups including a real humanoid robot that can explore multiple spaces of goals with several hundred continuous dimensions. While no particular target goal is provided to the system, this curriculum allows the discovery of skills that act as stepping stone for learning more complex skills, e.g. nested tool use. We show that learning diverse spaces of goals with intrinsic motivations is more efficient for learning complex skills than only trying to directly learn these complex skills

Electronic institutions with normative environments for agent-based E-contracting

Tese de doutoramento. Engenharia Informática. Faculdade de Engenharia. Universidade do Porto. 201

From Artifacts to Aggregations: Modeling Scientific Life Cycles on the Semantic Web

In the process of scientific research, many information objects are generated, all of which may remain valuable indefinitely. However, artifacts such as instrument data and associated calibration information may have little value in isolation; their meaning is derived from their relationships to each other. Individual artifacts are best represented as components of a life cycle that is specific to a scientific research domain or project. Current cataloging practices do not describe objects at a sufficient level of granularity nor do they offer the globally persistent identifiers necessary to discover and manage scholarly products with World Wide Web standards. The Open Archives Initiative's Object Reuse and Exchange data model (OAI-ORE) meets these requirements. We demonstrate a conceptual implementation of OAI-ORE to represent the scientific life cycles of embedded networked sensor applications in seismology and environmental sciences. By establishing relationships between publications, data, and contextual research information, we illustrate how to obtain a richer and more realistic view of scientific practices. That view can facilitate new forms of scientific research and learning. Our analysis is framed by studies of scientific practices in a large, multi-disciplinary, multi-university science and engineering research center, the Center for Embedded Networked Sensing (CENS).Comment: 28 pages. To appear in the Journal of the American Society for Information Science and Technology (JASIST

Designing Normative Theories for Ethical and Legal Reasoning: LogiKEy Framework, Methodology, and Tool Support

A framework and methodology---termed LogiKEy---for the design and engineering of ethical reasoners, normative theories and deontic logics is presented. The overall motivation is the development of suitable means for the control and governance of intelligent autonomous systems. LogiKEy's unifying formal framework is based on semantical embeddings of deontic logics, logic combinations and ethico-legal domain theories in expressive classic higher-order logic (HOL). This meta-logical approach enables the provision of powerful tool support in LogiKEy: off-the-shelf theorem provers and model finders for HOL are assisting the LogiKEy designer of ethical intelligent agents to flexibly experiment with underlying logics and their combinations, with ethico-legal domain theories, and with concrete examples---all at the same time. Continuous improvements of these off-the-shelf provers, without further ado, leverage the reasoning performance in LogiKEy. Case studies, in which the LogiKEy framework and methodology has been applied and tested, give evidence that HOL's undecidability often does not hinder efficient experimentation.Comment: 50 pages; 10 figure