The KoLMogorov Test: Compression by Code Generation

Explainable Robotic Plan Execution Monitoring Under Partial Observability

IEEE Transactions on Robotics, 2022. [All Versions]. Successful plan generation for autonomous systems is necessary but not sufficient to guarantee reaching a goal state by an execution of a plan. Various discrepancies between an expected state and the observed state may occur during the plan execution (e.g., due to unexpected exogenous events, changes in the goals, or failure of robot parts) and these discrepancies may lead to plan failures. For that reason, autonomous systems should be equipped with execution monitoring algorithms so that they can autonomously recover from such discrepancies. This work introduces a plan execution monitoring algorithm that operates under partial observability. This algorithm relies on novel formal methods for hybrid prediction, diagnosis and explanation generation, and planning. The prediction module generates an expected state after the execution of a part of the plan from an incomplete state to check for discrepancies. The diagnostic reasoning module generates meaningful hypotheses to explain failures of robot parts. Unlike the existing diagnosis methods, the previous hypotheses can be revised, based on new partial observations, increasing the accuracy of explanations as further information becomes available. The replanning module considers these explanations while computing a new plan that would avoid such failures. All these reasoning modules are hybrid in that they combine high-level logical reasoning with low-level feasibility checks based on probabilistic methods. The authors experimentally show that these hybrid formal reasoning modules improve the performance of plan execution monitoring

What is Answer Set Programming?

Springer, 2008. [All Versions]. [Tutorial on AAAI]. Answer set programming (ASP) is a form of declarative programming oriented towards difficult search problems. As an outgrowth of research on the use of nonmonotonic reasoning in knowledge representation, it is particularly useful in knowledge-intensive applications. ASP programs consist of rules that look like Prolog rules, but the computational mechanisms used in ASP are different: they are based on the ideas that have led to the creation of fast satisfiability solvers for propositional logic

Prototyping an Ontological Framework for Cellular Senescence Mechanisms: A Homeostasis Imbalance Perspective

Scientific Data, 2024. [All Versions]. Although cellular senescence is a key factor in organismal aging, with both positive and negative effects on individuals, its mechanisms remain largely unknown. Thus, integrating knowledge is essential to explain how cellular senescence manifests in tissue damage and age-related diseases. Here, this work proposes an ontological model that organizes knowledge of cellular senescence in a computer-readable form. The authors manually annotated and defined cellular senescence processes, molecules, anatomical structures, phenotypes, and other entities based on the Homeostasis Imbalance Process ontology (HOIP). The authors described the mechanisms as causal relationships of processes and modelled a homeostatic imbalance between stress and stress response in cellular senescence for a unified framework. HOIP was assessed formally, and the relationships between cellular senescence and diseases were inferred for higher-order knowledge processing. The authors visualized cellular senescence processes to support knowledge utilization. This study provides a knowledge base to help elucidate mechanisms linking cellular and organismal aging

Answer Set Programming

ICLPNR'99, 1999. [All Versions]. [Preprint]. The original paper on Answer Set Programming (ASP), a form of declarative programming oriented towards difficult search problems, on the use of nonmonotonic reasoning in knowledge representation. In ASP solutions to a problem are represented by answer sets (known also as stable models), and not by answer substitutions produced in response to a query, as in conventional logic programming