Archive for the ‘Agents’ Category

Case-Based Learning from Proactive Communication

We present a proactive communication approach that allows CBR agents to gauge the strengths and weaknesses of other CBR agents. The communication protocol allows CBR agents to learn from communicating with other CBR agents in such a way that each agent is able to retain certain cases provided by other agents that are able to improve their individual performance (without need to disclose all the contents of each case base). The selection and retention of cases is modeled as a case bartering process, where each individual CBR agent autonomously decides which cases offers for bartering and which offered barters accepts. Experimental evaluations show that the sum of all these individual decisions result in a clear improvement in individual CBR agent performance with only a moderate increase of individual case bases.

Read the paper:

Case-Based Learning from Proactive Communication

by Santi Ontañón and Enric Plaza

International Joint Conference on Artificial Intelligence (IJCAI 2007), pp. 999-1004
www.cc.gatech.edu/faculty/ashwin/papers/er-07-18.pdf

IRIA: The Information Research Intelligent Assistant

The explosion of information in the modern environment demands the ability to collect, organize, manage, and search large amounts of information across a wide variety of real-world applications. The primary tools available for such tasks are large-scale database systems and keyword-based document search techniques. However, such tools are rapidly proving inadequate: traditional database systems do not enable ready access to relevant knowledge, prompting a market of add-ons and existing search techniques are insufficiently precise or selective to support such tasks, leading to consumer exasperation. In the end users are left unsatisfied, confronted with a sea of unorganized and unhelpful data. A new approach is needed.

The Information Research Intelligent Assistant (IRIA) is an integrated information retrieval architecture that addresses this problem. IRIA enables a user or workgroup to build a personalized map of the relevant information available in a database, intranet, or internet, and the ability to find, add, and use information quickly and easily. An IRIA-based intelligent information management system acts as an autonomous assistant to a user working on a task, working unobtrusively in the background to learn both the user’s interests and the resources available to satisfy those interests. This approach enables “reminding engines” which monitor a user’s work to proactively find and recommend useful information as well as “workgroup memories” which learn from a user’s behavior to build a comprehensive knowledge map of a particular area of interest.

In empirical tests, IRIA has demonstrated the ability to monitor a user’s progress on a task (specifically, web search) and proactively find and recommend information relevant to that task based on the context and history of the user’s interactions with the system. IRIA further demonstrated that it could provide collaborative facilities to the workgroup and that it could learn and improve its knowledge map over time.

Read the paper:

IRIA: The Information Research Intelligent Assistant

by Anthony Francis, Mark Devaney, Ashwin Ram

International Conference on Artificial Intelligence (ICAI-00), Las Vegas, Nevada
www.dresan.com/research/publications/icai-2000.html

Context-Sensitive Asynchronous Memory

Retrieving useful answers from large knowledge bases given under-specified questions is an important problem in the construction of general intelligent agents. The core of this problem is how to get the information an agent needs when it doesn’t know how to ask the right question and doesn’t have the time to exhaustively search all available information.

Context-sensitive asynchronous memory is a model of memory retrieval that solves this problem. The context-sensitive asynchronous memory approach exploits feedback from the task and environment to guide and constrain memory search by interleaving memory retrieval and problem solving. To achieve this behavior, a context-sensitive asynchronous memory uses an asynchronous retrieval system to manage a context- sensitive search process operating over a content-addressable knowledge base. Solutions based on this approach provide useful answers to vague questions efficiently, based on information naturally available during the performance of a task.

The core claims of this approach are:
•  Claim 1: An efficient, domain-independent solution to the problem of retrieving useful answers from large knowledge bases given under-specified queries is to interleave memory retrieval with task performance and use feedback from the task or environment to guide the search of memory.
•  Claim 2: Interleaving memory retrieval with and exploiting feedback from task performance can be achieved in a domain-independent way using a context- sensitive, asynchronous memory retrieval process.
•  Claim 3: A rich, reified, grounded semantic network representation enables context-sensitive memory retrieval processes to retrieve useful information in a domain-independent way for a wide variety of tasks.
•  Claim 4: To effectively use a context-sensitive asynchronous memory to retrieve useful answers, a task must be able to work in parallel with a memory process, communicate with it, provide feedback to it, and must possess integration mechanisms to incorporate asynchronous retrievals provided by the memory.

The context-sensitive asynchronous memory approach is applicable to tasks and domains which exhibit the following criteria: problems are difficult to solve, questions are difficult to formulate, a large knowledge base is available yet contains only a small selection of relevant information, and, most importantly, the environment is regular, in that solutions in the knowledge base occur in patterns and relationships similar to those found in situations in which the solutions are likely to be applicable in the future. This approach is domain independent: it is applicable to a wide variety of tasks and problems from simple search applications to complex cognitive agents.

To exploit context-sensitive asynchronous memory, reasoners need certain properties. Experience-based agency is an agent architecture which provides an outline of how to construct complete intelligent agents which use a context-sensitive asynchronous memory to support a reasoning system performing a real task. The experience-based agent architecture combines a context-sensitive asynchronous memory retrieval process with a global store of experience used by all agent processes, a global working memory to provide a uniform way to collect feedback, and a global task controller which orchestrates reasoning and memory. The experience-based agent architecture also provides principles for constructing integration mechanisms that enable reasoning tasks to work with the context-sensitive asynchronous memory.

Furthermore, to help determine when these approaches should be used, this research also contributes theoretical analyses that predict the classes of tasks and situations in which the context-sensitive asynchronous memory and experience-based agent approaches will provide the greatest benefit.

To evaluate the approach, the experience-based agent architecture has been implemented in the Nicole system. Nicole is a large Common Lisp program providing global long-term and working memory stores represented as a rich, reified, grounded semantic network, a context-sensitive asynchronous memory process based on a novel model of context-directed spreading activation, a control system for orchestrating reasoning and memory, and a task language to implement reasoning tasks. Nicole enables the context-sensitive asynchronous memory approach to be applied to real problems, including information retrieval in Nicole-IRIA, a information management application that uses context to recommend useful information (Francis et al. 2000), planning in Nicole-MPA, a case-based least-commitment planner that adapts multiple plans (Ram & Francis 1995) and language understanding in ISAAC (Moorman 1997), a story understanding system which uses Nicole’s retrieval system as part of its creative understanding process. Nicole and her children thus provide a testbed to evaluate the context-sensitive asynchronous memory approach.

Experiments with Nicole support the claims of the approach. Experiments with Nicole-IRIA demonstrate that a context-sensitive asynchronous memory can use feedback from browsing to improve the quality of memory retrieval, while experiments with Nicole-MPA demonstrate how information derived from reasoning can improve the quantity of retrieval. The use of Nicole’s memory in the ISAAC system demonstrates the generality of the context-sensitive asynchronous memory approach. Other experiments with Nicole-MPA demonstrate the importance of representation as a source of power for context-sensitive asynchronous memory, and further demonstrate that the core features of the experience-based agent architecture are crucial sources of power necessary to enable a reasoning task to work with and exploit a context-sensitive asynchronous memory.

In sum, these evaluations demonstrate that the context-sensitive asynchronous memory approach is a general approach to memory retrieval which can provide concrete benefits to real problems.

Read the thesis:

Context-Sensitive Asynchronous Memory

by Anthony Francis

PhD Thesis, College of Computing, Georgia Institute of Technology, Atlanta, GA, 2000
www.cc.gatech.edu/faculty/ashwin/papers/git-cc-00-01.pdf

Needles in a Haystack: Plan Recognition in Large Spatial Domains Involving Multiple Agents

While plan recognition research has been applied to a wide variety of problems, it has largely made identical assumptions about the number of agents participating in the plan, the observability of the plan execution process, and the scale of the domain. We describe a method for plan recognition in a real-world domain involving large numbers of agents performing spatial maneuvers in concert under conditions of limited observability. These assumptions differ radically from those traditionally made in plan recognition and produce a problem which combines aspects of the fields of plan recognition, pattern recognition, and object tracking. We describe our initial solution which borrows and builds upon research from each of these areas, employing a pattern-directed approach to recognize individual movements and generalizing these to produce inferences of large-scale behavior.

Read the paper:

Needles in a Haystack: Plan Recognition in Large Spatial Domains Involving Multiple Agents

by Mark Devaney, Ashwin Ram

15th National Conference on Artificial Intelligence (AAAI-98), Madison, Wisconsin, July 1998
www.cc.gatech.edu/faculty/ashwin/papers/er-98-03.pdf

Integrating Robotic Technologies with JavaBots

Mobile robotics research advances through developments in theory, and implementation in hardware and software. While theory is important, this article is primarily concerned with hardware and software technologies. It is our view that significant strides can be made just be combining existing hardware and software tools. Thus the focus of this paper is answering the question: how can we more easily integrate robotic technologies?

We argue that the most effective approach is through standardized interfaces (APIs) to robotic hardware and software technologies (e.g., path planning toolkits). JavaBots is an example framework that provides this kind of integration in simulation and on robot ahrdware. A high-level common interface to sensors and actuators allows control systems to run on multiple simulated and real hardware platforms. Conversely, JavaBots supports the evaluation of competing control systems on the same hardware. In this article, we describe JavaBots and provide examples of robot systems built using it.

Read the paper:

Integrating Robotic Technologies with JavaBots

by Tucker Balch, Ashwin Ram

AAAI Spring Symposium on Integrating Robotic Research: Taking the Next Leap, Stanford, CA, March 1998
www.cc.gatech.edu/faculty/ashwin/papers/er-98-01.pdf

Can Your Architecture Do This? A Proposal for Impasse-Driven Asynchronous Memory Retrieval and Integration

We propose an impasse-driven method for generating memory retrieval requests and integrating their contents dynamically and asynchronously into the current reasoning context of an agent. This method extends our previous theory of agent architecture, called experience-based agency (Ram & Francis 1996), by proposing a general method that can replace and augment task-specific mechanisms for generating memory retrievals and invoking integration mechanisms. As part of an overall agent architecture, this method has promise as a way to introduce in a principled way efficient high-level memory operations into systems based on reactive task-network decomposition.

Read the paper:

Can Your Architecture Do This? A Proposal for Impasse-Driven Asynchronous Memory Retrieval and Integration

by Anthony Francis, Ashwin Ram

AAAI-97 Workshop on Robots, Softbots, Immobots: Theories of Action, Planning and Control, Providence, RI, July 1997
www.cc.gatech.edu/faculty/ashwin/papers/er-97-03.pdf

Continuous Case-Based Reasoning

Case-based reasoning systems have traditionally been used to perform high-level reasoning in problem domains that can be adequately described using discrete, symbolic representations. However, many real-world problem domains, such as autonomous robotic navigation, are better characterized using continuous representations. Such problem domains also require continuous performance, such as on-line sensorimotor interaction with the environment, and continuous adaptation and learning during the performance task.

This article introduces a new method for continuous case-based reasoning, and discusses its application to the dynamic selection, modification, and acquisition of robot behaviors in an autonomous navigation system, SINS (Self-Improving Navigation System). The computer program and the underlying method are systematically evaluated through statistical analysis of results from several empirical studies. The article concludes with a general discussion of case-based reasoning issues addressed by this research.

Read the paper:

Continuous Case-Based Reasoning

by Ashwin Ram, Juan Carlos Santamaria

Artificial Intelligence journal, (90)1-2:25-77, 1997
www.cc.gatech.edu/faculty/ashwin/papers/er-97-06.pdf

Learning Adaptive Reactive Controllers

Reactive controllers has been widely used in mobile robots since they are able to achieve successful performance in real-time. However, the configuration of a reactive controller depends highly on the operating conditions of the robot and the environment; thus, a reactive controller configured for one class of environments may not perform adequately in another. This paper presents a formulation of learning adaptive reactive controllers. Adaptive reactive controllers inherit all the advantages of traditional reactive controllers, but in addition they are able to adjust themselves to the current operating conditions of the robot and the environment in order to improve task performance. Furthermore, learning adaptive reactive controllers can learn when and how to adapt the reactive controller so as to achieve effective performance under different conditions.

The paper presents an algorithm for a learning adaptive reactive controller that combines ideas from case-based reasoning and reinforcement learning to construct a mapping between the operating conditions of a controller and the appropriate controller configuration; this mapping is in turn used to adapt the controller configuration dynamically. As a case study, the algorithm is implemented in a robotic navigation system that controls a Denning MRV-III mobile robot. The system is extensively evaluated using statistical methods to verify its learning performance and to understand the relevance of different design parameters on the performance of the system.

Read the paper:

Learning Adaptive Reactive Controllers

by Juan Carlos Santamaria, Ashwin Ram

Technical Report GIT-CC-97/05, College of Computing, Georgia Institute of Technology, Atlanta, GA, January 1997
www.cc.gatech.edu/faculty/ashwin/papers/git-cc-97-05.pdf

Multi-Plan Retrieval and Adaptation in an Experience-Based Agent

The real world has many properties that present challenges for the design of intelligent agents: it is dynamic, unpredictable, and independent, poses poorly structured problems, and places bounds on the resources available to agents. Agents that opearate in real worlds need a wide range of capabilities to deal with them: memory, situation analysis, situativity, resource-bounded cognition, and opportunism.

We propose a theory of experience-based agency which specifies how an agent with the ability to richly represent and store its experiences could remember those experiences with a context-sensitive, asynchronous memory, incorporate those experiences into its reasoning on demand with integration mechanisms, and usefully direct memory and reasoning through the use of a utility-based metacontroller. We have implemented this theory in an architecture called NICOLE and have used it to address the problem of merging multiple plans during the course of case-based adaptation in least-committment planning.

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Multi-Plan Retrieval and Adaptation in an Experience-Based Agent

by Ashwin Ram, Anthony Francis

In Case-Based Reasoning: Experiences, Lessons, and Future Directions, D.B. Leake, editor, AAAI Press, 1996
www.cc.gatech.edu/faculty/ashwin/papers/er-96-06.pdf

Learning Adaptive Reactive Agents

An autonomous agent is an intelligent system that has an ongoing interaction with a dynamic external world. It can perceive and act on the world through a set of limited sensors and effectors. Its most important characteristic is that it is forced to make decisions sequentially, one after another, during its entire “life”. The main objective of this dissertation is to study algorithms by which an autonomous agents can learn, using their own experience, to perform sequential decision-making efficiently and autonomously. The dissertation describes a framework for studying autonomous sequential decision-making consisting of three main elements: the agent, the environment, and the task. The agent attempts to control the environment by perceiving the environment and choosing actions in a sequential fashion. The environment is a dynamic system characterized by a state and its dynamics, a function that describes the evolution of the state given the agent’s actions. A task is a declarative description of the desired behavior the agent should exhibit as it interacts with the environment. The ultimate goal of the agent is to learn a policy or strategy for selecting actions that maximizes its expected benefit as defined by the task.

The dissertation focuses on sequential decision-making when the environment is characterized by continuous states and actions, and the agent has imperfect perception, incomplete knowledge, and limited computational resources. The main characteristic of the approach proposed in this dissertation is that the agent uses its previous experiences to improve estimates of the long-term benefit associated with the execution of specific actions. The agent uses these estimates to evaluate how desirable is to execute alternative actions and select the one that best balances the short- and long-term consequences, taking special consideration of the expected benefit associated with actions that accomplish new learning while making progress on the task.

The approach is based on novel methods that are specifically designed to address the problems associated with continuous domains, imperfect perception, incomplete knowledge, and limited computational resources. The approach is implemented using case-based techniques and extensively evaluated in simulated and real systems including autonomous mobile robots, pendulum swinging and balancing controllers, and other non-linear dynamic system controllers.

Read the thesis:

Learning Adaptive Reactive Agents

by Juan Carlos Santamaria

PhD Thesis, College of Computing, Georgia Institute of Technology, Atlanta, GA, 1996
www.cc.gatech.edu/faculty/ashwin/papers/git-cc-97-08.ps.Z