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Toward Robots That Reason: Logic, Probability & Causal Laws

Part of the Synthesis Lectures on Artificial Intelligence and Machine Learning Book Series

DOI: 10.1007/978-3-031-21003-7

ISBN: 978-3-031-21002-0

Publisher: Springer International Publishing - Springer Journals

Feb 21, 2023

1 - 10 of 11 Chapters

LitStream

Chapter 1Introduction

Belle, Vaishak

Pages: 1 –14

[Artificial Intelligence (AI) is widely acknowledged as a new kind of science that will bring about (and is already enabling) the next technological revolution. Virtually every week, exciting reports come our way about the use of AI for drug discovery, game playing, stock trading and law...
LitStream

Chapter 2Representation Matters

Belle, Vaishak

Pages: 15 –26

[In this chapter, we will informally reflect on the interplay between first-order logic and probabilities. Our interest in this book is on the representation of information—capturing the knowledge of a robot, say—and how that representation churns out interesting conclusions that determine what...
LitStream

Chapter 3From Predicate Calculus to the Situation Calculus

Belle, Vaishak

Pages: 27 –47

[Our account is formulated in the language of the situation calculus, the most established special-purpose knowledge representation formalism for reasoning about dynamical systems. Originally postulated by McCarthy, and later revised by Reiter, it is a dialect of first-order logic with...
LitStream

Chapter 4Knowledge

Belle, Vaishak

Pages: 49 –66

[The situation calculus is a formalism for reasoning about actions and effects, and it is implicit in the axiomatizations that these effects are actualized in the world. The situation calculus is a formalism for reasoning about actions and effects, and it is implicit in the axiomatizations that...
LitStream

Chapter 5Probabilistic Beliefs

Belle, Vaishak

Pages: 67 –78

[Much of high-level AI research is concerned with the behavior of some putative agent, operating in a partially known environment. This agent is grappling with two fundamental sorts of reasoning problems. First, because the world is dynamic, it will need to reason about change: how its actions...
LitStream

Chapter 6Continuous Distributions

Belle, Vaishak

Pages: 79 –102

[The model of belief from the previous chapter is very general in extending the expressiveness of the situation calculus to allow for probabilistic specifications, however partial or incomplete they may be. However, it does have one serious drawback: it is ultimately based on the addition of...
LitStream

Chapter 7Localization

Belle, Vaishak

Pages: 103 –116

[Cognitive robotics is the high-level control paradigm that attempts to apply knowledge representation (KR) technologies to the reasoning problems faced by an autonomous agent, such as a robot, in an incompletely known dynamic world. Although a tight pairing of sensor data and high-level control...
LitStream

Chapter 8Regression and Progression

Belle, Vaishak

Pages: 117 –148

[While the situation calculus is a powerful representation language, the task of how to effectively reason about actions is still to be addressed in the context of probabilistic beliefs. In essence, this would correspond to a more involved projection problem, where the state of knowledge, actions...
LitStream

Chapter 9Programs

Belle, Vaishak

Pages: 149 –162

[High-level program execution, as seen in Golog and flux among others, offers an attractive alternative to automated planning for the control of artificial agents. This is especially true for the dynamic worlds with incomplete information seen in robotics, where planning would have to generate...
LitStream

Chapter 10A Modal Reconstruction

Belle, Vaishak

Pages: 163 –176

[The previous chapters considered an extension to Reiter’s reworking of the situation calculus to allow for probabilistic belief and noise. By introducing a functional fluent for weights on situations, and a likelihood function for outcomes, we captured belief as an abbreviation in terms of the...

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