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preprint2016arXiv

Superintelligence cannot be contained: Lessons from Computability Theory

Superintelligence is a hypothetical agent that possesses intelligence far surpassing that of the brightest and most gifted human minds. In light of recent advances in machine intelligence, a number of scientists, philosophers and technologists have revived the discussion about the potential catastrophic risks entailed by such an entity. In this article, we trace the origins and development of the neo-fear of superintelligence, and some of the major proposals for its containment. We argue that such containment is, in principle, impossible, due to fundamental limits inherent to computing itself. Assuming that a superintelligence will contain a program that includes all the programs that can be executed by a universal Turing machine on input potentially as complex as the state of the world, strict containment requires simulations of such a program, something theoretically (and practically) infeasible.

preprint2016arXiv

Optimal control for a robotic exploration, pick-up and delivery problem

This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or drop-off of an object. The objects are modeled by point masses with a-priori unknown locations in a bounded two-dimensional space that may contain unknown obstacles. For this hybrid system, an Optimal Control Problem (OCP) is approximately solved by a receding horizon scheme, where the derived lower bound for the cost-to-go is evaluated for the worst and for a probabilistic case, assuming a uniform distribution of the objects. First, a time-driven approximate solution based on time and position space discretization and mixed integer programming is presented. Due to the high computational cost of this solution, an alternative event-driven approximate approach based on a suitable motion parameterization and gradient-based optimization is proposed. The solutions are compared in a numerical example, suggesting that the latter approach offers a significant computational advantage while yielding similar qualitative results compared to the former. The methods are particularly relevant for various robotic applications like automated cleaning, search and rescue, harvesting or manufacturing.

preprint2000arXiv

Representation results for defeasible logic

The importance of transformations and normal forms in logic programming, and generally in computer science, is well documented. This paper investigates transformations and normal forms in the context of Defeasible Logic, a simple but efficient formalism for nonmonotonic reasoning based on rules and priorities. The transformations described in this paper have two main benefits: on one hand they can be used as a theoretical tool that leads to a deeper understanding of the formalism, and on the other hand they have been used in the development of an efficient implementation of defeasible logic.

preprint2012arXiv

Relative Expressiveness of Defeasible Logics

We address the relative expressiveness of defeasible logics in the framework DL. Relative expressiveness is formulated as the ability to simulate the reasoning of one logic within another logic. We show that such simulations must be modular, in the sense that they also work if applied only to part of a theory, in order to achieve a useful notion of relative expressiveness. We present simulations showing that logics in DL with and without the capability of team defeat are equally expressive. We also show that logics that handle ambiguity differently -- ambiguity blocking versus ambiguity propagating -- have distinct expressiveness, with neither able to simulate the other under a different formulation of expressiveness.

preprint2017arXiv

On the incorporation of interval-valued fuzzy sets into the Bousi-Prolog system: declarative semantics, implementation and applications

In this paper we analyse the benefits of incorporating interval-valued fuzzy sets into the Bousi-Prolog system. A syntax, declarative semantics and im- plementation for this extension is presented and formalised. We show, by using potential applications, that fuzzy logic programming frameworks enhanced with them can correctly work together with lexical resources and ontologies in order to improve their capabilities for knowledge representation and reasoning.

preprint2016arXiv

A Classification Engine for Image Ballistics of Social Data

Image Forensics has already achieved great results for the source camera identification task on images. Standard approaches for data coming from Social Network Platforms cannot be applied due to different processes involved (e.g., scaling, compression, etc.). Over 1 billion images are shared each day on the Internet and obtaining information about their history from the moment they were acquired could be exploited for investigation purposes. In this paper, a classification engine for the reconstruction of the history of an image, is presented. Specifically, exploiting K-NN and decision trees classifiers and a-priori knowledge acquired through image analysis, we propose an automatic approach that can understand which Social Network Platform has processed an image and the software application used to perform the image upload. The engine makes use of proper alterations introduced by each platform as features. Results, in terms of global accuracy on a dataset of 2720 images, confirm the effectiveness of the proposed strategy.

preprint2017arXiv

DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self

This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the-art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users.

preprint2018arXiv

Amnestic Forgery: an Ontology of Conceptual Metaphors

This paper presents Amnestic Forgery, an ontology for metaphor semantics, based on MetaNet, which is inspired by the theory of Conceptual Metaphor. Amnestic Forgery reuses and extends the Framester schema, as an ideal ontology design framework to deal with both semiotic and referential aspects of frames, roles, mappings, and eventually blending. The description of the resource is supplied by a discussion of its applications, with examples taken from metaphor generation, and the referential problems of metaphoric mappings. Both schema and data are available from the Framester SPARQL endpoint.

preprint2018arXiv

Collaborative Filtering with Topic and Social Latent Factors Incorporating Implicit Feedback

Recommender systems (RSs) provide an effective way of alleviating the information overload problem by selecting personalized items for different users. Latent factors based collaborative filtering (CF) has become the popular approaches for RSs due to its accuracy and scalability. Recently, online social networks and user-generated content provide diverse sources for recommendation beyond ratings. Although {\em social matrix factorization} (Social MF) and {\em topic matrix factorization} (Topic MF) successfully exploit social relations and item reviews, respectively, both of them ignore some useful information. In this paper, we investigate the effective data fusion by combining the aforementioned approaches. First, we propose a novel model {\em \mbox{MR3}} to jointly model three sources of information (i.e., ratings, item reviews, and social relations) effectively for rating prediction by aligning the latent factors and hidden topics. Second, we incorporate the implicit feedback from ratings into the proposed model to enhance its capability and to demonstrate its flexibility. We achieve more accurate rating prediction on real-life datasets over various state-of-the-art methods. Furthermore, we measure the contribution from each of the three data sources and the impact of implicit feedback from ratings, followed by the sensitivity analysis of hyperparameters. Empirical studies demonstrate the effectiveness and efficacy of our proposed model and its extension.

preprint2017arXiv

Contractibility for Open Global Constraints

Open forms of global constraints allow the addition of new variables to an argument during the execution of a constraint program. Such forms are needed for difficult constraint programming problems where problem construction and problem solving are interleaved, and fit naturally within constraint logic programming. However, in general, filtering that is sound for a global constraint can be unsound when the constraint is open. This paper provides a simple characterization, called contractibility, of the constraints where filtering remains sound when the constraint is open. With this characterization we can easily determine whether a constraint has this property or not. In the latter case, we can use it to derive a contractible approximation to the constraint. We demonstrate this work on both hard and soft constraints. In the process, we formulate two general classes of soft constraints.

preprint2017arXiv

Hierarchical State Abstractions for Decision-Making Problems with Computational Constraints

In this semi-tutorial paper, we first review the information-theoretic approach to account for the computational costs incurred during the search for optimal actions in a sequential decision-making problem. The traditional (MDP) framework ignores computational limitations while searching for optimal policies, essentially assuming that the acting agent is perfectly rational and aims for exact optimality. Using the free-energy, a variational principle is introduced that accounts not only for the value of a policy alone, but also considers the cost of finding this optimal policy. The solution of the variational equations arising from this formulation can be obtained using familiar Bellman-like value iterations from dynamic programming (DP) and the Blahut-Arimoto (BA) algorithm from rate distortion theory. Finally, we demonstrate the utility of the approach for generating hierarchies of state abstractions that can be used to best exploit the available computational resources. A numerical example showcases these concepts for a path-planning problem in a grid world environment.

preprint2018arXiv

How linguistic descriptions of data can help to the teaching-learning process in higher education, case of study: artificial intelligence

Artificial Intelligence is a central topic in the computer science curriculum. From the year 2011 a project-based learning methodology based on computer games has been designed and implemented into the intelligence artificial course at the University of the Bio-Bio. The project aims to develop software-controlled agents (bots) which are programmed by using heuristic algorithms seen during the course. This methodology allows us to obtain good learning results, however several challenges have been founded during its implementation. In this paper we show how linguistic descriptions of data can help to provide students and teachers with technical and personalized feedback about the learned algorithms. Algorithm behavior profile and a new Turing test for computer games bots based on linguistic modelling of complex phenomena are also proposed in order to deal with such challenges. In order to show and explore the possibilities of this new technology, a web platform has been designed and implemented by one of authors and its incorporation in the process of assessment allows us to improve the teaching learning process.

preprint2018arXiv

Integrating Reviews into Personalized Ranking for Cold Start Recommendation

Item recommendation task predicts a personalized ranking over a set of items for each individual user. One paradigm is the rating-based methods that concentrate on explicit feedbacks and hence face the difficulties in collecting them. Meanwhile, the ranking-based methods are presented with rated items and then rank the rated above the unrated. This paradigm takes advantage of widely available implicit feedback. It, however, usually ignores a kind of important information: item reviews. Item reviews not only justify the preferences of users, but also help alleviate the cold-start problem that fails the collaborative filtering. In this paper, we propose two novel and simple models to integrate item reviews into Bayesian personalized ranking. In each model, we make use of text features extracted from item reviews using word embeddings. On top of text features we uncover the review dimensions that explain the variation in users' feedback and these review factors represent a prior preference of users. Experiments on six real-world data sets show the benefits of leveraging item reviews on ranking prediction. We also conduct analyses to understand the proposed models.

preprint2019arXiv

DeepSphere: Efficient spherical Convolutional Neural Network with HEALPix sampling for cosmological applications

Convolutional Neural Networks (CNNs) are a cornerstone of the Deep Learning toolbox and have led to many breakthroughs in Artificial Intelligence. These networks have mostly been developed for regular Euclidean domains such as those supporting images, audio, or video. Because of their success, CNN-based methods are becoming increasingly popular in Cosmology. Cosmological data often comes as spherical maps, which make the use of the traditional CNNs more complicated. The commonly used pixelization scheme for spherical maps is the Hierarchical Equal Area isoLatitude Pixelisation (HEALPix). We present a spherical CNN for analysis of full and partial HEALPix maps, which we call DeepSphere. The spherical CNN is constructed by representing the sphere as a graph. Graphs are versatile data structures that can act as a discrete representation of a continuous manifold. Using the graph-based representation, we define many of the standard CNN operations, such as convolution and pooling. With filters restricted to being radial, our convolutions are equivariant to rotation on the sphere, and DeepSphere can be made invariant or equivariant to rotation. This way, DeepSphere is a special case of a graph CNN, tailored to the HEALPix sampling of the sphere. This approach is computationally more efficient than using spherical harmonics to perform convolutions. We demonstrate the method on a classification problem of weak lensing mass maps from two cosmological models and compare the performance of the CNN with that of two baseline classifiers. The results show that the performance of DeepSphere is always superior or equal to both of these baselines. For high noise levels and for data covering only a smaller fraction of the sphere, DeepSphere achieves typically 10% better classification accuracy than those baselines. Finally, we show how learned filters can be visualized to introspect the neural network.

preprint2018arXiv

Uncertainty in Quantum Rule-Based Systems

This article deals with the problem of the uncertainty in rule-based systems (RBS), but from the perspective of quantum computing (QC). In this work we first remember the characteristics of Quantum Rule-Based Systems (QRBS), a concept defined in a previous article by one of the authors of this paper, and we introduce the problem of quantum uncertainty. We assume that the subjective uncertainty that affects the facts of classical RBSs can be treated as a direct consequence of the probabilistic nature of quantum mechanics (QM), and we also assume that the uncertainty associated with a given hypothesis is a consequence of the propagation of the imprecision through the inferential circuits of RBSs. This article does not intend to contribute anything new to the QM field: it is a work of artificial intelligence (AI) that uses QC techniques to solve the problem of uncertainty in RBSs. Bearing the above arguments in mind a quantum model is proposed. This model has been applied to a problem already defined by one of the authors of this work in a previous publication and which is briefly described in this article. Then the model is generalized, and it is thoroughly evaluated. The results obtained show that QC is a valid, effective and efficient method to deal with the inherent uncertainty of RBSs

preprint2018arXiv

Reinforcement Learning Decoders for Fault-Tolerant Quantum Computation

Topological error correcting codes, and particularly the surface code, currently provide the most feasible roadmap towards large-scale fault-tolerant quantum computation. As such, obtaining fast and flexible decoding algorithms for these codes, within the experimentally relevant context of faulty syndrome measurements, is of critical importance. In this work, we show that the problem of decoding such codes, in the full fault-tolerant setting, can be naturally reformulated as a process of repeated interactions between a decoding agent and a code environment, to which the machinery of reinforcement learning can be applied to obtain decoding agents. As a demonstration, by using deepQ learning, we obtain fast decoding agents for the surface code, for a variety of noise-models.

preprint2019arXiv

Efficient order picking methods in robotic mobile fulfillment systems

Robotic mobile fulfillment systems (RMFSs) are a new type of warehousing system, which has received more attention recently, due to increasing growth in the e-commerce sector. Instead of sending pickers to the inventory area to search for and pick the ordered items, robots carry shelves (called "pods") including ordered items from the inventory area to picking stations. In the picking stations, human pickers put ordered items into totes; then these items are transported by a conveyor to the packing stations. This type of warehousing system relieves the human pickers and improves the picking process. In this paper, we concentrate on decisions about the assignment of pods to stations and orders to stations to fulfill picking for each incoming customer's order. In previous research for an RMFS with multiple picking stations, these decisions are made sequentially. Instead, we present a new integrated model. To improve the system performance even more, we extend our model by splitting orders. This means parts of an order are allowed to be picked at different stations. To the best of the authors' knowledge, this is the first publication on split orders in an RMFS. We analyze different performance metrics, such as pile-on, pod-station visits, robot moving distance and order turn-over time. We compare the results of our models in different instances with the sequential method in our open-source simulation framework RAWSim-O.

preprint2019arXiv

Complexity Results and Algorithms for Bipolar Argumentation

Bipolar Argumentation Frameworks (BAFs) admit several interpretations of the support relation and diverging definitions of semantics. Recently, several classes of BAFs have been captured as instances of bipolar Assumption-Based Argumentation, a class of Assumption-Based Argumentation (ABA). In this paper, we establish the complexity of bipolar ABA, and consequently of several classes of BAFs. In addition to the standard five complexity problems, we analyse the rarely-addressed extension enumeration problem too. We also advance backtracking-driven algorithms for enumerating extensions of bipolar ABA frameworks, and consequently of BAFs under several interpretations. We prove soundness and completeness of our algorithms, describe their implementation and provide a scalability evaluation. We thus contribute to the study of the as yet uninvestigated complexity problems of (variously interpreted) BAFs as well as of bipolar ABA, and provide the lacking implementations thereof.

preprint2019arXiv

Capturing human categorization of natural images at scale by combining deep networks and cognitive models

Human categorization is one of the most important and successful targets of cognitive modeling in psychology, yet decades of development and assessment of competing models have been contingent on small sets of simple, artificial experimental stimuli. Here we extend this modeling paradigm to the domain of natural images, revealing the crucial role that stimulus representation plays in categorization and its implications for conclusions about how people form categories. Applying psychological models of categorization to natural images required two significant advances. First, we conducted the first large-scale experimental study of human categorization, involving over 500,000 human categorization judgments of 10,000 natural images from ten non-overlapping object categories. Second, we addressed the traditional bottleneck of representing high-dimensional images in cognitive models by exploring the best of current supervised and unsupervised deep and shallow machine learning methods. We find that selecting sufficiently expressive, data-driven representations is crucial to capturing human categorization, and using these representations allows simple models that represent categories with abstract prototypes to outperform the more complex memory-based exemplar accounts of categorization that have dominated in studies using less naturalistic stimuli.

preprint2019arXiv

Procedural Content Generation through Quality Diversity

Quality-diversity (QD) algorithms search for a set of good solutions which cover a space as defined by behavior metrics. This simultaneous focus on quality and diversity with explicit metrics sets QD algorithms apart from standard single- and multi-objective evolutionary algorithms, as well as from diversity preservation approaches such as niching. These properties open up new avenues for artificial intelligence in games, in particular for procedural content generation. Creating multiple systematically varying solutions allows new approaches to creative human-AI interaction as well as adaptivity. In the last few years, a handful of applications of QD to procedural content generation and game playing have been proposed; we discuss these and propose challenges for future work.

preprint2019arXiv

Reinforcement Learning with Convex Constraints

In standard reinforcement learning (RL), a learning agent seeks to optimize the overall reward. However, many key aspects of a desired behavior are more naturally expressed as constraints. For instance, the designer may want to limit the use of unsafe actions, increase the diversity of trajectories to enable exploration, or approximate expert trajectories when rewards are sparse. In this paper, we propose an algorithmic scheme that can handle a wide class of constraints in RL tasks: specifically, any constraints that require expected values of some vector measurements (such as the use of an action) to lie in a convex set. This captures previously studied constraints (such as safety and proximity to an expert), but also enables new classes of constraints (such as diversity). Our approach comes with rigorous theoretical guarantees and only relies on the ability to approximately solve standard RL tasks. As a result, it can be easily adapted to work with any model-free or model-based RL. In our experiments, we show that it matches previous algorithms that enforce safety via constraints, but can also enforce new properties that these algorithms do not incorporate, such as diversity.

preprint2019arXiv

AI for Explaining Decisions in Multi-Agent Environments

Explanation is necessary for humans to understand and accept decisions made by an AI system when the system's goal is known. It is even more important when the AI system makes decisions in multi-agent environments where the human does not know the systems' goals since they may depend on other agents' preferences. In such situations, explanations should aim to increase user satisfaction, taking into account the system's decision, the user's and the other agents' preferences, the environment settings and properties such as fairness, envy and privacy. Generating explanations that will increase user satisfaction is very challenging; to this end, we propose a new research direction: xMASE. We then review the state of the art and discuss research directions towards efficient methodologies and algorithms for generating explanations that will increase users' satisfaction from AI system's decisions in multi-agent environments.

preprint2019arXiv

Q-Search Trees: An Information-Theoretic Approach Towards Hierarchical Abstractions for Agents with Computational Limitations

In this paper, we develop a framework to obtain graph abstractions for decision-making by an agent where the abstractions emerge as a function of the agent's limited computational resources. We discuss the connection of the proposed approach with information-theoretic signal compression, and formulate a novel optimization problem to obtain tree-based abstractions as a function of the agent's computational resources. The structural properties of the new problem are discussed in detail, and two algorithmic approaches are proposed to obtain solutions to this optimization problem. We discuss the quality of, and prove relationships between, solutions obtained by the two proposed algorithms. The framework is demonstrated to generate a hierarchy of abstractions for a non-trivial environment.

preprint2019arXiv

Deep Reinforcement Learning Algorithm for Dynamic Pricing of Express Lanes with Multiple Access Locations

This article develops a deep reinforcement learning (Deep-RL) framework for dynamic pricing on managed lanes with multiple access locations and heterogeneity in travelers' value of time, origin, and destination. This framework relaxes assumptions in the literature by considering multiple origins and destinations, multiple access locations to the managed lane, en route diversion of travelers, partial observability of the sensor readings, and stochastic demand and observations. The problem is formulated as a partially observable Markov decision process (POMDP) and policy gradient methods are used to determine tolls as a function of real-time observations. Tolls are modeled as continuous and stochastic variables, and are determined using a feedforward neural network. The method is compared against a feedback control method used for dynamic pricing. We show that Deep-RL is effective in learning toll policies for maximizing revenue, minimizing total system travel time, and other joint weighted objectives, when tested on real-world transportation networks. The Deep-RL toll policies outperform the feedback control heuristic for the revenue maximization objective by generating revenues up to 9.5% higher than the heuristic and for the objective minimizing total system travel time (TSTT) by generating TSTT up to 10.4% lower than the heuristic. We also propose reward shaping methods for the POMDP to overcome the undesired behavior of toll policies, like the jam-and-harvest behavior of revenue-maximizing policies. Additionally, we test transferability of the algorithm trained on one set of inputs for new input distributions and offer recommendations on real-time implementations of Deep-RL algorithms. The source code for our experiments is available online at https://github.com/venktesh22/ExpressLanes_Deep-RL