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Towards VEsNA, a Framework for Managing Virtual Environments via Natural Language Agents 基于自然语言代理的虚拟环境管理框架——VEsNA
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.8
A. Gatti, V. Mascardi
{"title":"Towards VEsNA, a Framework for Managing Virtual Environments via Natural Language Agents","authors":"A. Gatti, V. Mascardi","doi":"10.4204/EPTCS.362.8","DOIUrl":"https://doi.org/10.4204/EPTCS.362.8","url":null,"abstract":"Automating a factory where robots are involved is neither trivial nor cheap. Engineering the factory automation process in such a way that return of interest is maximized and risk for workers and equipment is minimized, is hence of paramount importance. Simulation can be a game changer in this scenario but requires advanced programming skills that domain experts and industrial designers might not have. In this paper we present the preliminary design and implementation of a general-purpose framework for creating and exploiting Virtual Environments via Natural language Agents (VEsNA). VEsNA takes advantage of agent-based technologies and natural language processing to enhance the design of virtual environments. The natural language input provided to VEsNA is understood by a chatbot and passed to a cognitive intelligent agent that implements the logic behind displacing objects in the virtual environment. In the VEsNA vision, the intelligent agent will be able to reason on this dis-placement and on its compliance to legal and normative constraints. It will also be able to implement what-if analysis and case-based reasoning. Objects populating the virtual environment will include active objects and will populate a dynamic simulation whose outcomes will be interpreted by the cognitive agent; explanations and suggestions will be passed back to the user by the chatbot.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115463113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Model Compression for Resource-Constrained Mobile Robots 资源受限移动机器人的模型压缩
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.7
Timotheos Souroulla, Alberto Hata, Ahmad Terra, Özer Özkahraman, R. Inam
{"title":"Model Compression for Resource-Constrained Mobile Robots","authors":"Timotheos Souroulla, Alberto Hata, Ahmad Terra, Özer Özkahraman, R. Inam","doi":"10.4204/EPTCS.362.7","DOIUrl":"https://doi.org/10.4204/EPTCS.362.7","url":null,"abstract":"The number of mobile robots with constrained computing resources that need to execute complex machine learning models has been increasing during the past decade. Commonly, these robots rely on edge infrastructure accessible over wireless communication to execute heavy computational complex tasks. However, the edge might become unavailable and, consequently, oblige the execution of the tasks on the robot. This work focuses on making it possible to execute the tasks on the robots by reducing the complexity and the total number of parameters of pre-trained computer vision models. This is achieved by using model compression techniques such as Pruning and Knowledge Distillation. These compression techniques have strong theoretical and practical foundations, but their combined usage has not been widely explored in the literature. Therefore, this work especially focuses on investigating the effects of combining these two compression techniques. The results of this work reveal that up to 90% of the total number of parameters of a computer vision model can be removed without any considerable reduction in the model’s accuracy.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131117296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Modelling the Turtle Python library in CSP 在CSP中建模Turtle Python库
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.4
Dara MacConville, M. Farrell, Matt Luckcuck, Rosemary Monahan
{"title":"Modelling the Turtle Python library in CSP","authors":"Dara MacConville, M. Farrell, Matt Luckcuck, Rosemary Monahan","doi":"10.4204/EPTCS.362.4","DOIUrl":"https://doi.org/10.4204/EPTCS.362.4","url":null,"abstract":"Software verification is an important tool in establishing the reliability of critical systems. One potential area of application is in the field of robotics, as robots take on more tasks in both day-to-day areas and highly specialised domains. Robots are usually given a plan to follow, if there are errors in this plan the robot will not perform reliably. The capability to check plans for errors in advance could prevent this. Python is a popular programming language in the robotics domain, through the use of the Robot Operating System (ROS) and various other libraries. Python's Turtle package provides a mobile agent, which we formally model here using Communicating Sequential Processes (CSP). Our interactive toolchain CSP2Turtle with CSP model and Python components, enables Turtle plans to be verified in CSP before being executed in Python. This means that certain classes of errors can be avoided, and provides a starting point for more detailed verification of Turtle programs and more complex robotic systems. We illustrate our approach with examples of robot navigation and obstacle avoidance in a 2D grid-world.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134423249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Temporal Planning with Incomplete Knowledge and Perceptual Information 具有不完全知识和感性信息的时间规划
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.6
Yaniel Carreno, Y. Pétillot, Ronald P. A. Petrick
{"title":"Temporal Planning with Incomplete Knowledge and Perceptual Information","authors":"Yaniel Carreno, Y. Pétillot, Ronald P. A. Petrick","doi":"10.4204/EPTCS.362.6","DOIUrl":"https://doi.org/10.4204/EPTCS.362.6","url":null,"abstract":"In real-world applications, the ability to reason about incomplete knowledge, sensing, temporal notions, and numeric constraints is vital. While several AI planners are capable of dealing with some of these requirements, they are mostly limited to problems with specific types of constraints. This paper presents a new planning approach that combines contingent plan construction within a temporal planning framework, offering solutions that consider numeric constraints and incomplete knowledge. We propose a small extension to the Planning Domain Definition Language (PDDL) to model (i) incomplete, (ii) knowledge sensing actions that operate over unknown propositions, and (iii) possible outcomes from non-deterministic sensing effects. We also introduce a new set of planning domains to evaluate our solver, which has shown good performance on a variety of problems.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114692801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Careful Autonomous Agents in Environments With Multiple Common Resources 具有多个公共资源的环境中的谨慎自治代理
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.3
Rodica Condurache, C. Dima, Madalina Jitaru, Y. Oualhadj, N. Troquard
{"title":"Careful Autonomous Agents in Environments With Multiple Common Resources","authors":"Rodica Condurache, C. Dima, Madalina Jitaru, Y. Oualhadj, N. Troquard","doi":"10.4204/EPTCS.362.3","DOIUrl":"https://doi.org/10.4204/EPTCS.362.3","url":null,"abstract":"Careful rational synthesis was defined in [7] as a quantitative extension of Fisman et al.’s rational synthesis [11], as a model of multi-agent systems in which agents are interacting in a graph arena in a turn-based fashion. There is one common resource, and each action may decrease or increase the resource. Each agent has a temporal qualitative objective and wants to maintain the value of the resource positive. One must find a Nash equilibrium. This problem is decidable. In more practical settings, the verification of the critical properties of multi-agent systems calls for models with many resources. Indeed, agents and robots consume and produce more than one type of resource: electric energy, fuel, raw material, manufactured goods, etc. We thus explore the problem of careful rational synthesis with several resources. We show that the problem is undecidable. We then propose a variant with bounded resources, motivated by the observation that in practical settings, the storage of resources is limited. We show that the problem becomes decidable, and is no harder than controller synthesis with Linear-time Temporal Logic objectives.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114602244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
RV4JaCa - Runtime Verification for Multi-Agent Systems RV4JaCa -多代理系统的运行时验证
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.5
D. Engelmann, Angelo Ferrando, Alison R. Panisson, D. Ancona, Rafael Heitor Bordini, V. Mascardi
{"title":"RV4JaCa - Runtime Verification for Multi-Agent Systems","authors":"D. Engelmann, Angelo Ferrando, Alison R. Panisson, D. Ancona, Rafael Heitor Bordini, V. Mascardi","doi":"10.4204/EPTCS.362.5","DOIUrl":"https://doi.org/10.4204/EPTCS.362.5","url":null,"abstract":"This paper presents a Runtime Verification (RV) approach for Multi-Agent Systems (MAS) using the JaCaMo framework. Our objective is to bring a layer of security to the MAS. This layer is capable of controlling events during the execution of the system without needing a specific implementation in the behaviour of each agent to recognise the events. MAS have been used in the context of hybrid intelligence. This use requires communication between software agents and human beings. In some cases, communication takes place via natural language dialogues. However, this kind of communication brings us to a concern related to controlling the flow of dialogue so that agents can prevent any change in the topic of discussion that could impair their reasoning. We demonstrate the implementation of a monitor that aims to control this dialogue flow in a MAS that communicates with the user through natural language to aid decision-making in hospital bed allocation.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127276090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
The Need for a Meta-Architecture for Robot Autonomy 机器人自治对元架构的需求
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.9
Stalin Munoz Guti'errez, Gerald Steinbauer-Wagner
{"title":"The Need for a Meta-Architecture for Robot Autonomy","authors":"Stalin Munoz Guti'errez, Gerald Steinbauer-Wagner","doi":"10.4204/EPTCS.362.9","DOIUrl":"https://doi.org/10.4204/EPTCS.362.9","url":null,"abstract":"Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally require the application of rigorous methodologies during the system development, including the use of correct-by-construction techniques to implement robot behaviors. As the level of autonomy in robots increases, so do the cost of offering guarantees about the dependability of the system. Certifiable dependability of autonomous robots, we argue, can benefit from formal models of the integration of several cognitive functions, knowledge processing, reasoning, and meta-reasoning. Here, we put forward the case for a generative model of cognitive architectures for autonomous robotic agents that subscribes to the principles of model-based engineering and certifiable dependability, autonomic computing, and knowledge-enabled robotics.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"21 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126069101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Towards Plug'n Play Task-Level Autonomy for Robotics Using POMDPs and Generative Models 利用pomdp和生成模型实现机器人即插即用任务级自治
AREA@IJCAI-ECAI Pub Date : 2022-07-19 DOI: 10.4204/EPTCS.362.10
Or Wertheim, D. Suissa, R. Brafman
{"title":"Towards Plug'n Play Task-Level Autonomy for Robotics Using POMDPs and Generative Models","authors":"Or Wertheim, D. Suissa, R. Brafman","doi":"10.4204/EPTCS.362.10","DOIUrl":"https://doi.org/10.4204/EPTCS.362.10","url":null,"abstract":"To enable robots to achieve high level objectives, engineers typically write scripts that apply existing specialized skills, such as navigation, object detection and manipulation to achieve these goals. Writing good scripts is challenging since they must intelligently balance the inherent stochasticity of a physical robot's actions and sensors, and the limited information it has. In principle, AI planning can be used to address this challenge and generate good behavior policies automatically. But this requires passing three hurdles. First, the AI must understand each skill's impact on the world. Second, we must bridge the gap between the more abstract level at which we understand what a skill does and the low-level state variables used within its code. Third, much integration effort is required to tie together all components. We describe an approach for integrating robot skills into a working autonomous robot controller that schedules its skills to achieve a specified task and carries four key advantages. 1) Our Generative Skill Documentation Language (GSDL) makes code documentation simpler, compact, and more expressive using ideas from probabilistic programming languages. 2) An expressive abstraction mapping (AM) bridges the gap between low-level robot code and the abstract AI planning model. 3) Any properly documented skill can be used by the controller without any additional programming effort, providing a Plug'n Play experience. 4) A POMDP solver schedules skill execution while properly balancing partial observability, stochastic behavior, and noisy sensing.","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134212339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Proceedings of the Second Workshop on Agents and Robots for reliable Engineered Autonomy, AREA@IJCAI-ECAI 2022, Vienna, Austria, 24th July 2022 第二届可靠工程自治代理和机器人研讨会论文集，AREA@IJCAI-ECAI 2022，奥地利维也纳，2022年7月24日
AREA@IJCAI-ECAI Pub Date : 1900-01-01 DOI: 10.48550/arXiv.2207.09058
{"title":"Proceedings of the Second Workshop on Agents and Robots for reliable Engineered Autonomy, AREA@IJCAI-ECAI 2022, Vienna, Austria, 24th July 2022","authors":"","doi":"10.48550/arXiv.2207.09058","DOIUrl":"https://doi.org/10.48550/arXiv.2207.09058","url":null,"abstract":"","PeriodicalId":313985,"journal":{"name":"AREA@IJCAI-ECAI","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125105692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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