20 Search Results for "Levesque, Hector J."

Document
Research
DOI: 10.4230/TGDK.4.1.3
Semantically Reflected Programs

Authors: Eduard Kamburjan, Vidar Norstein Klungre, Yuanwei Qu, Rudolf Schlatte, Egor V. Kostylev, Martin Giese, and Einar Broch Johnsen

Published in: TGDK, Volume 4, Issue 1 (2026). Transactions on Graph Data and Knowledge, Volume 4, Issue 1

Abstract
This paper addresses the dichotomy between the formalization of structural and the formalization of executable behavioral knowledge by means of semantically lifted programs, which explore an intuitive connection between imperative programs and knowledge graphs. While knowledge graphs and ontologies are eminently useful to represent formal knowledge about a system’s individuals and universals, programming languages are designed to describe the system’s evolution. To address this dichotomy, we introduce a semantic lifting of the program states of an executing progam into a knowledge graph, for an object-oriented programming language. The resulting graph is exposed as a semantic reflection layer within the programming language, allowing programmers to leverage knowledge of the application domain in their programs during execution. In this paper, we formalize semantic lifting and semantic reflection for a small imperative programming language, SMOL, explain the operational aspects of the language, and consider type correctness and virtualization for runtime program queries through the semantic reflection layer. We illustrate semantic lifting and semantic reflection through a case study of geological modeling and discuss different applications of the technique. The language implementation is open source and available online.
Cite as

Eduard Kamburjan, Vidar Norstein Klungre, Yuanwei Qu, Rudolf Schlatte, Egor V. Kostylev, Martin Giese, and Einar Broch Johnsen. Semantically Reflected Programs. In Transactions on Graph Data and Knowledge (TGDK), Volume 4, Issue 1, pp. 3:1-3:52, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@Article{kamburjan_et_al:TGDK.4.1.3,
  author =	{Kamburjan, Eduard and Klungre, Vidar Norstein and Qu, Yuanwei and Schlatte, Rudolf and Kostylev, Egor V. and Giese, Martin and Johnsen, Einar Broch},
  title =	{{Semantically Reflected Programs}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{3:1--3:52},
  ISSN =	{2942-7517},
  year =	{2026},
  volume =	{4},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.4.1.3},
  URN =		{urn:nbn:de:0030-drops-256884},
  doi =		{10.4230/TGDK.4.1.3},
  annote =	{Keywords: Knowledge Graphs, Ontologies, Object-Oriented Modelling, Imperative Programming Languages, Reflection, Type Safety}
}
Document
DOI: 10.4230/LIPIcs.ESA.2025.103
On the Satisfiability of Random 3-SAT Formulas with k-Wise Independent Clauses

Authors: Ioannis Caragiannis, Nick Gravin, and Zhile Jiang

Published in: LIPIcs, Volume 351, 33rd Annual European Symposium on Algorithms (ESA 2025)

Abstract
The problem of identifying the satisfiability threshold of random 3-SAT formulas has received a lot of attention during the last decades and has inspired the study of other threshold phenomena in random combinatorial structures. The classical assumption in this line of research is that, for a given set of n Boolean variables, each clause is drawn uniformly at random among all sets of three literals from these variables, independently from other clauses. Here, we keep the uniform distribution of each clause, but deviate significantly from the independence assumption and consider richer families of probability distributions. For integer parameters n, m, and k, we denote by ℱ_k(n,m) the family of probability distributions that produce formulas with m clauses, each selected uniformly at random from all sets of three literals from the n variables, so that the clauses are k-wise independent. Our aim is to make general statements about the satisfiability or unsatisfiability of formulas produced by distributions in ℱ_k(n,m) for different values of the parameters n, m, and k. Our technical results are as follows: First, all probability distributions in ℱ₂(n,m) with m ∈ Ω(n³) return unsatisfiable formulas with high probability. This result is tight. We show that there exists a probability distribution 𝒟 ∈ ℱ₃(n,m) with m ∈ O(n³) so that a random formula drawn from 𝒟 is almost always satisfiable. In contrast, for m ∈ Ω(n²), any probability distribution 𝒟 ∈ ℱ₄(n,m) returns an unsatisfiable formula with high probability. This is our most surprising and technically involved result. Finally, for any integer k ≥ 2, any probability distribution 𝒟 ∈ ℱ_k(n,m) with m ∈ O(n^{1-1/k}) returns a satisfiable formula with high probability.
Cite as

Ioannis Caragiannis, Nick Gravin, and Zhile Jiang. On the Satisfiability of Random 3-SAT Formulas with k-Wise Independent Clauses. In 33rd Annual European Symposium on Algorithms (ESA 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 351, pp. 103:1-103:17, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{caragiannis_et_al:LIPIcs.ESA.2025.103,
  author =	{Caragiannis, Ioannis and Gravin, Nick and Jiang, Zhile},
  title =	{{On the Satisfiability of Random 3-SAT Formulas with k-Wise Independent Clauses}},
  booktitle =	{33rd Annual European Symposium on Algorithms (ESA 2025)},
  pages =	{103:1--103:17},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-395-9},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{351},
  editor =	{Benoit, Anne and Kaplan, Haim and Wild, Sebastian and Herman, Grzegorz},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ESA.2025.103},
  URN =		{urn:nbn:de:0030-drops-245721},
  doi =		{10.4230/LIPIcs.ESA.2025.103},
  annote =	{Keywords: Random 3-SAT, k-wise independence, Random bipartite graph}
}
Document
Survey
DOI: 10.4230/TGDK.2.1.1
Towards Representing Processes and Reasoning with Process Descriptions on the Web

Authors: Andreas Harth, Tobias Käfer, Anisa Rula, Jean-Paul Calbimonte, Eduard Kamburjan, and Martin Giese

Published in: TGDK, Volume 2, Issue 1 (2024): Special Issue on Trends in Graph Data and Knowledge - Part 2. Transactions on Graph Data and Knowledge, Volume 2, Issue 1

Abstract
We work towards a vocabulary to represent processes and temporal logic specifications as graph-structured data. Different fields use incompatible terminologies for describing essentially the same process-related concepts. In addition, processes can be represented from different perspectives and levels of abstraction: both state-centric and event-centric perspectives offer distinct insights into the underlying processes. In this work, we strive to unify the representation of processes and related concepts by leveraging the power of knowledge graphs. We survey approaches to representing processes and reasoning with process descriptions from different fields and provide a selection of scenarios to help inform the scope of a unified representation of processes. We focus on processes that can be executed and observed via web interfaces. We propose to provide a representation designed to combine state-centric and event-centric perspectives while incorporating temporal querying and reasoning capabilities on temporal logic specifications. A standardised vocabulary and representation for processes and temporal specifications would contribute towards bridging the gap between the terminologies from different fields and fostering the broader application of methods involving temporal logics, such as formal verification and program synthesis.
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Andreas Harth, Tobias Käfer, Anisa Rula, Jean-Paul Calbimonte, Eduard Kamburjan, and Martin Giese. Towards Representing Processes and Reasoning with Process Descriptions on the Web. In Special Issue on Trends in Graph Data and Knowledge - Part 2. Transactions on Graph Data and Knowledge (TGDK), Volume 2, Issue 1, pp. 1:1-1:32, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@Article{harth_et_al:TGDK.2.1.1,
  author =	{Harth, Andreas and K\"{a}fer, Tobias and Rula, Anisa and Calbimonte, Jean-Paul and Kamburjan, Eduard and Giese, Martin},
  title =	{{Towards Representing Processes and Reasoning with Process Descriptions on the Web}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{1:1--1:32},
  ISSN =	{2942-7517},
  year =	{2024},
  volume =	{2},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.2.1.1},
  URN =		{urn:nbn:de:0030-drops-198583},
  doi =		{10.4230/TGDK.2.1.1},
  annote =	{Keywords: Process modelling, Process ontology, Temporal logic, Web services}
}
Document
DOI: 10.4230/DagSemProc.10081.14
Robot Learning Constrained by Planning and Reasoning

Authors: Claude Sammut, Raymond Sheh, and Tak Fai Yi

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Robot learning is usually done by trial-anderror or learning by example. Neither of these methods takes advantage of prior knowledge or of any ability to reason about actions. We describe two learning systems. In the first, we learn a model of a robot's actions. This is used in simulation to search for a sequence of actions that achieves the goal of traversing rough terrain. Further learning is used to compress the results of this search into a set of situation-action rules. In the second system, we assume the robot has some knowledge of the effects of actions and can use these to plan a sequence of actions. The qualitative states that result from the plan are used as constraints for trial-and-error learning. This approach greatly reduces the number of trials required by the learner. The method is demonstrated on the problem of a bipedal robot learning to walk.
Cite as

Claude Sammut, Raymond Sheh, and Tak Fai Yi. Robot Learning Constrained by Planning and Reasoning. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-5, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{sammut_et_al:DagSemProc.10081.14,
  author =	{Sammut, Claude and Sheh, Raymond and Yi, Tak Fai},
  title =	{{Robot Learning Constrained by Planning and Reasoning}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--5},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.14},
  URN =		{urn:nbn:de:0030-drops-28163},
  doi =		{10.4230/DagSemProc.10081.14},
  annote =	{Keywords: }
}
Document
DOI: 10.4230/DagSemProc.10081.1
10081 Abstracts Collection – Cognitive Robotics

Authors: Gerhard Lakemeyer, Hector J. Levesque, and Fiora Pirri

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
From 21.02. to 26.02.2010, the Dagstuhl Seminar 10081 ``Cognitive Robotics '' was held in Schloss Dagstuhl~--~Leibniz Center for Informatics. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available.
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Gerhard Lakemeyer, Hector J. Levesque, and Fiora Pirri. 10081 Abstracts Collection – Cognitive Robotics. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{lakemeyer_et_al:DagSemProc.10081.1,
  author =	{Lakemeyer, Gerhard and Levesque, Hector J. and Pirri, Fiora},
  title =	{{10081 Abstracts Collection – Cognitive Robotics}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--19},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.1},
  URN =		{urn:nbn:de:0030-drops-27776},
  doi =		{10.4230/DagSemProc.10081.1},
  annote =	{Keywords: Cognitive roboticsm, Knowledge representation and reasoning, Machine learning, Cognitive science, Cognitive vision}
}
Document
DOI: 10.4230/DagSemProc.10081.2
A Constraint-Based Approach for Plan Management in Intelligent Environments

Authors: Federico Pecora and Marcello Cirillo

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
In this paper we address the problem of realizing a service-providing reasoning infrastructure for proactive human assistance in intelligent environments. We propose SAM, an architecture which leverages temporal knowledge represented as relations in Allen’s interval algebra and constraint-based temporal planning techniques. SAM seamlessly combines two key capabilities for contextualized service provision, namely human activity recognition and planning for controlling pervasive actuation devices.
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Federico Pecora and Marcello Cirillo. A Constraint-Based Approach for Plan Management in Intelligent Environments. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{pecora_et_al:DagSemProc.10081.2,
  author =	{Pecora, Federico and Cirillo, Marcello},
  title =	{{A Constraint-Based Approach for Plan Management in Intelligent Environments}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.2},
  URN =		{urn:nbn:de:0030-drops-26358},
  doi =		{10.4230/DagSemProc.10081.2},
  annote =	{Keywords: }
}
Document
DOI: 10.4230/DagSemProc.10081.3
Attending to Motion: an object-based approach

Authors: Anna Belardinelli

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Visual attention is the biological mechanism allowing to turn mere sensing into conscious perception. In this process, object-based modulation of attention provides a further layer between low-level space/feature-based region selection and full object recognition. In this context, motion is a very powerful feature, naturally attracting our gaze and yielding rapid and effective shape distinction. Moving from a pixel-based account of attention to the definition of proto-objects as perceptual units labelled with a single saliency value, we present a framework for the selection of moving objects within cluttered scenes. Through segmentation of motion energy features, the system extracts coherently moving proto-objects defining them as consistently moving blobs and produces an object saliency map, by evaluating bottom-up distinctiveness of each object candidate with respect to its surroundings, in a center-surround fashion.
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Anna Belardinelli. Attending to Motion: an object-based approach. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-11, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{belardinelli:DagSemProc.10081.3,
  author =	{Belardinelli, Anna},
  title =	{{Attending to Motion: an object-based approach}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--11},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.3},
  URN =		{urn:nbn:de:0030-drops-26285},
  doi =		{10.4230/DagSemProc.10081.3},
  annote =	{Keywords: Visual attention model, motion selection, saliency map}
}
Document
DOI: 10.4230/DagSemProc.10081.4
Attentive Monitoring and Adaptive Control in Cognitive Robotics

Authors: E. Burattini, Alberto Finzi, S. Rossi, and Maria Carla Staffa

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
In this work, we present an attentional system for a robotic agent capable of adapting its emergent behavior to the surrounding environment and to its internal state. In this framework, the agent is endowed with simple attentional mechanisms regulating the frequencies of sensory readings and behavior activations. The process of changing the frequency of sensory readings is interpreted as an increase or decrease of attention towards relevant behaviors and particular aspects of the external environment. In this paper, we present our framework discussing several case studies considering incrementally complex behaviors and tasks.
Cite as

E. Burattini, Alberto Finzi, S. Rossi, and Maria Carla Staffa. Attentive Monitoring and Adaptive Control in Cognitive Robotics. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{burattini_et_al:DagSemProc.10081.4,
  author =	{Burattini, E. and Finzi, Alberto and Rossi, S. and Staffa, Maria Carla},
  title =	{{Attentive Monitoring and Adaptive Control in Cognitive Robotics}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.4},
  URN =		{urn:nbn:de:0030-drops-26322},
  doi =		{10.4230/DagSemProc.10081.4},
  annote =	{Keywords: Attention, behavior-based control, robotics}
}
Document
DOI: 10.4230/DagSemProc.10081.5
Cognitive Robotics

Authors: Hector J. Levesque and Gerhard Lakemeyer

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
This chapter is dedicated to the memory of Ray Reiter. It is also an overview of cognitive robotics, as we understand it to have been envisaged by him.1 Of course, nobody can control the use of a term or the direction of research. We apologize in advance to those who feel that other approaches to cognitive robotics and related problems are inadequately represented here.
Cite as

Hector J. Levesque and Gerhard Lakemeyer. Cognitive Robotics. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{levesque_et_al:DagSemProc.10081.5,
  author =	{Levesque, Hector J. and Lakemeyer, Gerhard},
  title =	{{Cognitive Robotics}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--19},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.5},
  URN =		{urn:nbn:de:0030-drops-26335},
  doi =		{10.4230/DagSemProc.10081.5},
  annote =	{Keywords: }
}
Document
DOI: 10.4230/DagSemProc.10081.6
Combining Planning and Motion Planning

Authors: Jaesik Choi and Eyal Amir

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Robotic manipulation is important for real, physical world applications. General Purpose manipulation with a robot (eg. delivering dishes, opening doors with a key, etc.) is demanding. It is hard because (1) objects are constrained in position and orientation, (2) many non-spatial constraints interact (or interfere) with each other, and (3) robots may have multidegree of freedoms (DOF). In this paper we solve the problem of general purpose robotic manipulation using a novel combination of planning and motion planning. Our approach integrates motions of a robot with other (non-physical or external-to-robot) actions to achieve a goal while manipulating objects. It differs from previous, hierarchical approaches in that (a) it considers kinematic constraints in configuration space (C-space) together with constraints over object manipulations; (b) it automatically generates high-level (logical) actions from a C-space based motion planning algorithm; and (c) it decomposes a planning problem into small segments, thus reducing the complexity of planning.
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Jaesik Choi and Eyal Amir. Combining Planning and Motion Planning. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{choi_et_al:DagSemProc.10081.6,
  author =	{Choi, Jaesik and Amir, Eyal},
  title =	{{Combining Planning and Motion Planning}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.6},
  URN =		{urn:nbn:de:0030-drops-26294},
  doi =		{10.4230/DagSemProc.10081.6},
  annote =	{Keywords: Motion Planning, Factored Planning, Robotic arm}
}
Document
DOI: 10.4230/DagSemProc.10081.7
Coming up With Good Excuses: What to do When no Plan Can be Found

Authors: Moritz Göbeldecker, Thomas Keller, Patrick Eyerich, Michael Brenner, and Bernhard Nebel

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
can go wrong. First and foremost, an agent might fail to execute one of the planned actions for some reasons. Even more annoying, however, is a situation where the agent is incompetent, i.e., unable to come up with a plan. This might be due to the fact that there are principal reasons that prohibit a successful plan or simply because the task’s description is incomplete or incorrect. In either case, an explanation for such a failure would be very helpful. We will address this problem and provide a formalization of coming up with excuses for not being able to find a plan. Based on that, we will present an algorithm that is able to find excuses and demonstrate that such excuses can be found in practical settings in reasonable time.
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Moritz Göbeldecker, Thomas Keller, Patrick Eyerich, Michael Brenner, and Bernhard Nebel. Coming up With Good Excuses: What to do When no Plan Can be Found. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{gobeldecker_et_al:DagSemProc.10081.7,
  author =	{G\"{o}beldecker, Moritz and Keller, Thomas and Eyerich, Patrick and Brenner, Michael and Nebel, Bernhard},
  title =	{{Coming up With Good Excuses: What to do When no Plan Can be Found}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.7},
  URN =		{urn:nbn:de:0030-drops-27739},
  doi =		{10.4230/DagSemProc.10081.7},
  annote =	{Keywords: Planning, knowledge representation}
}
Document
DOI: 10.4230/DagSemProc.10081.8
Exploiting Spatial and Temporal Flexibility for Exploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems

Authors: Andreas G. Hofmann and Brian C. Williams

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Robotic devices, such as rovers and autonomous spacecraft, have been successfully controlled by plan execution systems that use plans with temporal flexibility to dynamically adapt to temporal disturbances. To date these execution systems apply to discrete systems that abstract away the detailed dynamic constraints of the controlled device. To control dynamic, under-actuated devices, such as agile bipedal walking machines, we extend this execution paradigm to incorporate detailed dynamic constraints. Building upon prior work on dispatchable plan execution, we introduce a novel approach to flexible plan execution of hybrid under-actuated systems that achieves robustness by exploiting spatial as well as temporal plan flexibility. To accomplish this, we first transform the high-dimensional system into a set of low dimensional, weakly coupled systems. Second, to coordinate these systems such that they achieve the plan in real-time, we compile a plan into a concurrent timed flow tube description. This description represents all feasible control trajectories and their temporal coordination constraints, such that each trajectory satisfies all plan and dynamic constraints. Finally, the problem of runtime plan dispatching is reduced to maintaining state trajectories in their associated flow tubes, while satisfying the coordination constraints. This is accomplished through an efficient local search algorithm that adjusts a small number of control parameters in real-time. The first step has been published previously; this paper focuses on the last two steps. The approach is validated on the execution of a set of bipedal walking plans, using a high fidelity simulation of a biped.
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Andreas G. Hofmann and Brian C. Williams. Exploiting Spatial and Temporal Flexibility for Exploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{hofmann_et_al:DagSemProc.10081.8,
  author =	{Hofmann, Andreas G. and Williams, Brian C.},
  title =	{{Exploiting Spatial and Temporal Flexibility for Exploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.8},
  URN =		{urn:nbn:de:0030-drops-27740},
  doi =		{10.4230/DagSemProc.10081.8},
  annote =	{Keywords: }
}
Document
DOI: 10.4230/DagSemProc.10081.9
golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems

Authors: Alexander Ferrein

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Among many approaches to address the high-level decision making problem for autonomous robots and agents, the robot program¬ming and plan language Golog follows a logic-based deliberative approach, and its successors were successfully deployed in a number of robotics applications over the past ten years. Usually, Golog interpreter are implemented in Prolog, which is not available for our target plat¬form, the bi-ped robot platform Nao. In this paper we sketch our first approach towards a prototype implementation of a Golog interpreter in the scripting language Lua. With the example of the elevator domain we discuss how the basic action theory is specified and how we implemented fluent regression in Lua. One possible advantage of the availability of a Non-Prolog implementation of Golog could be that Golog becomes avail¬able on a larger number of platforms, and also becomes more attractive for roboticists outside the Cognitive Robotics community.
Cite as

Alexander Ferrein. golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{ferrein:DagSemProc.10081.9,
  author =	{Ferrein, Alexander},
  title =	{{golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--15},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.9},
  URN =		{urn:nbn:de:0030-drops-26317},
  doi =		{10.4230/DagSemProc.10081.9},
  annote =	{Keywords: Action and change, high-level control, robotics}
}
Document
DOI: 10.4230/DagSemProc.10081.10
Improving the Performance of Complex Agent Plans Through Reinforcement Learning

Authors: Matteo Leonetti and Luca Iocchi

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Agent programming in complex, partially observable, and stochastic domains usually requires a great deal of understanding of both the domain and the task in order to provide the agent with the knowledge necessary to act effectively. While symbolic methods allow the designer to specify declarative knowledge about the domain, the resulting plan can be brittle since it is difficult to supply a symbolic model that is accurate enough to foresee all possible events in complex environments, especially in the case of partial observability. Reinforcement Learning (RL) techniques, on the other hand, can learn a policy and make use of a learned model, but it is difficult to reduce and shape the scope of the learning algorithm by exploiting a priori information. We propose a methodology for writing complex agent programs that can be effectively improved through experience.We show how to derive a stochastic process from a partial specification of the plan, so that the latter’s perfomance can be improved solving a RL problem much smaller than classical RL formulations. Finally, we demonstrate our approach in the context of Keepaway Soccer, a common RL benchmark based on a RoboCup Soccer 2D simulator.
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Matteo Leonetti and Luca Iocchi. Improving the Performance of Complex Agent Plans Through Reinforcement Learning. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-17, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{leonetti_et_al:DagSemProc.10081.10,
  author =	{Leonetti, Matteo and Iocchi, Luca},
  title =	{{Improving the Performance of Complex Agent Plans Through Reinforcement Learning}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--17},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.10},
  URN =		{urn:nbn:de:0030-drops-26347},
  doi =		{10.4230/DagSemProc.10081.10},
  annote =	{Keywords: Agent programming, planning, reinforcement learning, semi non-Markov decision process}
}
Document
DOI: 10.4230/DagSemProc.10081.11
Modeling the Observed Behavior of a Robot through Machine Learning

Authors: Malik Ghallab

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Artificial systems are becoming more and more complex, almost as complex in some cases as natural systems. Up to now, the typical engineering question was "how do I design my system to behave according to some specifications". However, the incremental design process is leading to so complex artifacts that engineers are more and more addressing a quite different issue of "how do I model the observed behavior of my system". Engineers are faced with the same problem as scientists studying natural phenomena. It may sound strange for an engineer to engage in observing and modeling what a system is doing, since this should be inferable from the models used in the system's design stage. However, a modular design of a complex artifact develops only local models that are combined on the basis of some composition principle of these models; it seldom provides global behavior models.
Cite as

Malik Ghallab. Modeling the Observed Behavior of a Robot through Machine Learning. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, p. 1, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{ghallab:DagSemProc.10081.11,
  author =	{Ghallab, Malik},
  title =	{{Modeling the Observed Behavior of a Robot through Machine Learning}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--1},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.11},
  URN =		{urn:nbn:de:0030-drops-26379},
  doi =		{10.4230/DagSemProc.10081.11},
  annote =	{Keywords: Robotics, Machine Learning}
}
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