Keyword Search on RDF Graphs - A Query Graph Assembly Approach

Keyword search provides ordinary users an easy-to-use interface for querying RDF data. Given the input keywords, in this paper, we study how to assemble a query graph that is to represent user's query intention accurately and efficiently. Based on the input keywords, we first obtain the elementary query graph building blocks, such as entity/class vertices and predicate edges. Then, we formally define the query graph assembly (QGA) problem. Unfortunately, we prove theoretically that QGA is a NP-complete problem. In order to solve that, we design some heuristic lower bounds and propose a bipartite graph matching-based best-first search algorithm. The algorithm's time complexity is $O(k^{2l} \cdot l^{3l})$, where $l$ is the number of the keywords and $k$ is a tunable parameter, i.e., the maximum number of candidate entity/class vertices and predicate edges allowed to match each keyword. Although QGA is intractable, both $l$ and $k$ are small in practice. Furthermore, the algorithm's time complexity does not depend on the RDF graph size, which guarantees the good scalability of our system in large RDF graphs. Experiments on DBpedia and Freebase confirm the superiority of our system on both effectiveness and efficiency

LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation

To assist with everyday human activities, robots must solve complex long-horizon tasks and generalize to new settings. Recent deep reinforcement learning (RL) methods show promise in fully autonomous learning, but they struggle to reach long-term goals in large environments. On the other hand, Task and Motion Planning (TAMP) approaches excel at solving and generalizing across long-horizon tasks, thanks to their powerful state and action abstractions. But they assume predefined skill sets, which limits their real-world applications. In this work, we combine the benefits of these two paradigms and propose an integrated task planning and skill learning framework named LEAGUE (Learning and Abstraction with Guidance). LEAGUE leverages the symbolic interface of a task planner to guide RL-based skill learning and creates abstract state space to enable skill reuse. More importantly, LEAGUE learns manipulation skills in-situ of the task planning system, continuously growing its capability and the set of tasks that it can solve. We evaluate LEAGUE on four challenging simulated task domains and show that LEAGUE outperforms baselines by large margins. We also show that the learned skills can be reused to accelerate learning in new tasks domains and transfer to a physical robot platform.Comment: Accepted to RA-L 202