6,127 research outputs found
Object Action Complexes as an Interface for Planning and Robot Control
Abstract â Much prior work in integrating high-level artificial intelligence planning technology with low-level robotic control has foundered on the significant representational differences between these two areas of research. We discuss a proposed solution to this representational discontinuity in the form of object-action complexes (OACs). The pairing of actions and objects in a single interface representation captures the needs of both reasoning levels, and will enable machine learning of high-level action representations from low-level control representations. I. Introduction and Background The different representations that are effective for continuous control of robotic systems and the discrete symbolic AI presents a significant challenge for integrating AI planning research and robotics. These areas of research should be abl
Grounding Dynamic Spatial Relations for Embodied (Robot) Interaction
This paper presents a computational model of the processing of dynamic
spatial relations occurring in an embodied robotic interaction setup. A
complete system is introduced that allows autonomous robots to produce and
interpret dynamic spatial phrases (in English) given an environment of moving
objects. The model unites two separate research strands: computational
cognitive semantics and on commonsense spatial representation and reasoning.
The model for the first time demonstrates an integration of these different
strands.Comment: in: Pham, D.-N. and Park, S.-B., editors, PRICAI 2014: Trends in
Artificial Intelligence, volume 8862 of Lecture Notes in Computer Science,
pages 958-971. Springe
Plausible inference: A multi-valued logic for problem solving
A new logic is developed which permits continuously variable strength of belief in the truth of assertions. Four inference rules result, with formal logic as a limiting case. Quantification of belief is defined. Propagation of belief to linked assertions results from dependency-based techniques of truth maintenance so that local consistency is achieved or contradiction discovered in problem solving. Rules for combining, confirming, or disconfirming beliefs are given, and several heuristics are suggested that apply to revising already formed beliefs in the light of new evidence. The strength of belief that results in such revisions based on conflicting evidence are a highly subjective phenomenon. Certain quantification rules appear to reflect an orderliness in the subjectivity. Several examples of reasoning by plausible inference are given, including a legal example and one from robot learning. Propagation of belief takes place in directions forbidden in formal logic and this results in conclusions becoming possible for a given set of assertions that are not reachable by formal logic
The hardness of the iconic must: Can Peirceâs existential graphs assist modal epistemology?
Charles Peirceâs diagrammatic logic - the Existential Graphs - is presented as a tool for illuminating how we know necessity, in answer to Benacerrafâs famous challenge that most âsemantics for mathematicsâ do not âfit an acceptable epistemologyâ. It is suggested that necessary reasoning is in essence a recognition that a certain structure has the structure that it has. This means that, contra Hume and his contemporary heirs, necessity is observable. One just needs to pay attention, not just to individual things but to how those things are related in larger structures, certain aspects of which force certain others to be a particular way
DSmT Decision-Making Algorithms for Finding Grasping Configurations of Robot Dexterous Hands
In this paper, we present a deciding technique for robotic dexterous hand configurations. This algorithm can be used to decide on how to configure a robotic hand so it can grasp objects in different scenarios. Receiving as input, several sensor signals that provide information on the objectâs shape, the DSmT decision-making algorithm passes the information through several steps before deciding what hand configuration should be used for a certain object and task
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