Abstract
Robots deployed to assist humans in complex, dynamic domains need the ability to represent, reason with, and learn from, different descriptions of incomplete domain knowledge and uncertainty. This paper presents an architecture that integrates declarative programming and relational reinforcement learning to support cumulative and interactive discovery of previously unknown axioms governing domain dynamics. Specifically, Answer Set Prolog (ASP), a declarative programming paradigm, is used to represent and reason with incomplete commonsense domain knowledge. For any given goal, unexplained failure of plans created by inference in the ASP program is taken to indicate the existence
of unknown domain axioms. The task of learning these axioms is formulated
as a Reinforcement Learning problem, and decision-tree regression with a relational representation is used to generalize from specific axioms identified over time. The new axioms are added to the ASP-based representation
for subsequent inference. We demonstrate and evaluate the capabilities of our architecture in two simulated domains: Blocks World and Simple Mario.
of unknown domain axioms. The task of learning these axioms is formulated
as a Reinforcement Learning problem, and decision-tree regression with a relational representation is used to generalize from specific axioms identified over time. The new axioms are added to the ASP-based representation
for subsequent inference. We demonstrate and evaluate the capabilities of our architecture in two simulated domains: Blocks World and Simple Mario.
Original language | English |
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Title of host publication | Autonomous Agents and Multiagent Systems |
Subtitle of host publication | AAMAS 2016 Workshops, Visionary Papers, Singapore, May 9-10, 2016, Revised Selected Papers |
Editors | Nardine Osman, Carles Sierra |
Publisher | Springer |
Chapter | 3 |
Pages | 34-49 |
ISBN (Electronic) | 9783319468402 |
ISBN (Print) | 9783319468396 |
DOIs | |
Publication status | Published - 24 Sept 2016 |
Event | AAMAS 2016 Workshops, - , Singapore Duration: 9 May 2016 → 10 May 2016 |
Publication series
Name | Lecture Notes in Computer Science |
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Publisher | Springer |
Volume | 10003 |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | AAMAS 2016 Workshops, |
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Country/Territory | Singapore |
Period | 9/05/16 → 10/05/16 |