Matching Items (23)
Filtering by
- All Subjects: artificial intelligence
- Genre: Academic theses
- Genre: Doctoral Dissertation
- Creators: Zhang, Yu
Description
Answer Set Programming (ASP) is one of the most prominent and successful knowledge representation paradigms. The success of ASP is due to its expressive non-monotonic modeling language and its efficient computational methods originating from building propositional satisfiability solvers. The wide adoption of ASP has motivated several extensions to its modeling language in order to enhance expressivity, such as incorporating aggregates and interfaces with ontologies. Also, in order to overcome the grounding bottleneck of computation in ASP, there are increasing interests in integrating ASP with other computing paradigms, such as Constraint Programming (CP) and Satisfiability Modulo Theories (SMT). Due to the non-monotonic nature of the ASP semantics, such enhancements turned out to be non-trivial and the existing extensions are not fully satisfactory. We observe that one main reason for the difficulties rooted in the propositional semantics of ASP, which is limited in handling first-order constructs (such as aggregates and ontologies) and functions (such as constraint variables in CP and SMT) in natural ways. This dissertation presents a unifying view on these extensions by viewing them as instances of formulas with generalized quantifiers and intensional functions. We extend the first-order stable model semantics by by Ferraris, Lee, and Lifschitz to allow generalized quantifiers, which cover aggregate, DL-atoms, constraints and SMT theory atoms as special cases. Using this unifying framework, we study and relate different extensions of ASP. We also present a tight integration of ASP with SMT, based on which we enhance action language C+ to handle reasoning about continuous changes. Our framework yields a systematic approach to study and extend non-monotonic languages.
ContributorsMeng, Yunsong (Author) / Lee, Joohyung (Thesis advisor) / Ahn, Gail-Joon (Committee member) / Baral, Chitta (Committee member) / Fainekos, Georgios (Committee member) / Lifschitz, Vladimir (Committee member) / Arizona State University (Publisher)
Created2013
Description
Action language C+ is a formalism for describing properties of actions, which is based on nonmonotonic causal logic. The definite fragment of C+ is implemented in the Causal Calculator (CCalc), which is based on the reduction of nonmonotonic causal logic to propositional logic. This thesis describes the language of CCalc in terms of answer set programming (ASP), based on the translation of nonmonotonic causal logic to formulas under the stable model semantics. I designed a standard library which describes the constructs of the input language of CCalc in terms of ASP, allowing a simple modular method to represent CCalc input programs in the language of ASP. Using the combination of system F2LP and answer set solvers, this method achieves functionality close to that of CCalc while taking advantage of answer set solvers to yield efficient computation that is orders of magnitude faster than CCalc for many benchmark examples. In support of this, I created an automated translation system Cplus2ASP that implements the translation and encoding method and automatically invokes the necessary software to solve the translated input programs.
ContributorsCasolary, Michael (Author) / Lee, Joohyung (Thesis advisor) / Ahn, Gail-Joon (Committee member) / Baral, Chitta (Committee member) / Arizona State University (Publisher)
Created2011
Description
Different logic-based knowledge representation formalisms have different limitations either with respect to expressivity or with respect to computational efficiency. First-order logic, which is the basis of Description Logics (DLs), is not suitable for defeasible reasoning due to its monotonic nature. The nonmonotonic formalisms that extend first-order logic, such as circumscription and default logic, are expressive but lack efficient implementations. The nonmonotonic formalisms that are based on the declarative logic programming approach, such as Answer Set Programming (ASP), have efficient implementations but are not expressive enough for representing and reasoning with open domains. This dissertation uses the first-order stable model semantics, which extends both first-order logic and ASP, to relate circumscription to ASP, and to integrate DLs and ASP, thereby partially overcoming the limitations of the formalisms. By exploiting the relationship between circumscription and ASP, well-known action formalisms, such as the situation calculus, the event calculus, and Temporal Action Logics, are reformulated in ASP. The advantages of these reformulations are shown with respect to the generality of the reasoning tasks that can be handled and with respect to the computational efficiency. The integration of DLs and ASP presented in this dissertation provides a framework for integrating rules and ontologies for the semantic web. This framework enables us to perform nonmonotonic reasoning with DL knowledge bases. Observing the need to integrate action theories and ontologies, the above results are used to reformulate the problem of integrating action theories and ontologies as a problem of integrating rules and ontologies, thus enabling us to use the computational tools developed in the context of the latter for the former.
ContributorsPalla, Ravi (Author) / Lee, Joohyung (Thesis advisor) / Baral, Chitta (Committee member) / Kambhampati, Subbarao (Committee member) / Lifschitz, Vladimir (Committee member) / Arizona State University (Publisher)
Created2012
Description
Humans and robots need to work together as a team to accomplish certain shared goals due to the limitations of current robot capabilities. Human assistance is required to accomplish the tasks as human capabilities are often better suited for certain tasks and they complement robot capabilities in many situations. Given the necessity of human-robot teams, it has been long assumed that for the robotic agent to be an effective team member, it must be equipped with automated planning technologies that helps in achieving the goals that have been delegated to it by their human teammates as well as in deducing its own goal to proactively support its human counterpart by inferring their goals. However there has not been any systematic evaluation on the accuracy of this claim.
In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.
Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.
Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
ContributorsNarayanan, Vignesh (Author) / Kambhampati, Subbarao (Thesis advisor) / Zhang, Yu (Thesis advisor) / Cooke, Nancy J. (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
Reasoning about the activities of cyber threat actors is critical to defend against cyber
attacks. However, this task is difficult for a variety of reasons. In simple terms, it is difficult
to determine who the attacker is, what the desired goals are of the attacker, and how they will
carry out their attacks. These three questions essentially entail understanding the attacker’s
use of deception, the capabilities available, and the intent of launching the attack. These
three issues are highly inter-related. If an adversary can hide their intent, they can better
deceive a defender. If an adversary’s capabilities are not well understood, then determining
what their goals are becomes difficult as the defender is uncertain if they have the necessary
tools to accomplish them. However, the understanding of these aspects are also mutually
supportive. If we have a clear picture of capabilities, intent can better be deciphered. If we
understand intent and capabilities, a defender may be able to see through deception schemes.
In this dissertation, I present three pieces of work to tackle these questions to obtain
a better understanding of cyber threats. First, we introduce a new reasoning framework
to address deception. We evaluate the framework by building a dataset from DEFCON
capture-the-flag exercise to identify the person or group responsible for a cyber attack.
We demonstrate that the framework not only handles cases of deception but also provides
transparent decision making in identifying the threat actor. The second task uses a cognitive
learning model to determine the intent – goals of the threat actor on the target system.
The third task looks at understanding the capabilities of threat actors to target systems by
identifying at-risk systems from hacker discussions on darkweb websites. To achieve this
task we gather discussions from more than 300 darkweb websites relating to malicious
hacking.
attacks. However, this task is difficult for a variety of reasons. In simple terms, it is difficult
to determine who the attacker is, what the desired goals are of the attacker, and how they will
carry out their attacks. These three questions essentially entail understanding the attacker’s
use of deception, the capabilities available, and the intent of launching the attack. These
three issues are highly inter-related. If an adversary can hide their intent, they can better
deceive a defender. If an adversary’s capabilities are not well understood, then determining
what their goals are becomes difficult as the defender is uncertain if they have the necessary
tools to accomplish them. However, the understanding of these aspects are also mutually
supportive. If we have a clear picture of capabilities, intent can better be deciphered. If we
understand intent and capabilities, a defender may be able to see through deception schemes.
In this dissertation, I present three pieces of work to tackle these questions to obtain
a better understanding of cyber threats. First, we introduce a new reasoning framework
to address deception. We evaluate the framework by building a dataset from DEFCON
capture-the-flag exercise to identify the person or group responsible for a cyber attack.
We demonstrate that the framework not only handles cases of deception but also provides
transparent decision making in identifying the threat actor. The second task uses a cognitive
learning model to determine the intent – goals of the threat actor on the target system.
The third task looks at understanding the capabilities of threat actors to target systems by
identifying at-risk systems from hacker discussions on darkweb websites. To achieve this
task we gather discussions from more than 300 darkweb websites relating to malicious
hacking.
ContributorsNunes, Eric (Author) / Shakarian, Paulo (Thesis advisor) / Ahn, Gail-Joon (Committee member) / Baral, Chitta (Committee member) / Cooke, Nancy J. (Committee member) / Arizona State University (Publisher)
Created2018
Description
In this thesis, a new approach to learning-based planning is presented where critical regions of an environment with low probability measure are learned from a given set of motion plans. Critical regions are learned using convolutional neural networks (CNN) to improve sampling processes for motion planning (MP).
In addition to an identification network, a new sampling-based motion planner, Learn and Link, is introduced. This planner leverages critical regions to overcome the limitations of uniform sampling while still maintaining guarantees of correctness inherent to sampling-based algorithms. Learn and Link is evaluated against planners from the Open Motion Planning Library (OMPL) on an extensive suite of challenging navigation planning problems. This work shows that critical areas of an environment are learnable, and can be used by Learn and Link to solve MP problems with far less planning time than existing sampling-based planners.
In addition to an identification network, a new sampling-based motion planner, Learn and Link, is introduced. This planner leverages critical regions to overcome the limitations of uniform sampling while still maintaining guarantees of correctness inherent to sampling-based algorithms. Learn and Link is evaluated against planners from the Open Motion Planning Library (OMPL) on an extensive suite of challenging navigation planning problems. This work shows that critical areas of an environment are learnable, and can be used by Learn and Link to solve MP problems with far less planning time than existing sampling-based planners.
ContributorsMolina, Daniel, M.S (Author) / Srivastava, Siddharth (Thesis advisor) / Li, Baoxin (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2019
Description
A critical challenge in the design of AI systems that operate with humans in the loop is to be able to model the intentions and capabilities of the humans, as well as their beliefs and expectations of the AI system itself. This allows the AI system to be "human- aware" -- i.e. the human task model enables it to envisage desired roles of the human in joint action, while the human mental model allows it to anticipate how its own actions are perceived from the point of view of the human. In my research, I explore how these concepts of human-awareness manifest themselves in the scope of planning or sequential decision making with humans in the loop. To this end, I will show (1) how the AI agent can leverage the human task model to generate symbiotic behavior; and (2) how the introduction of the human mental model in the deliberative process of the AI agent allows it to generate explanations for a plan or resort to explicable plans when explanations are not desired. The latter is in addition to traditional notions of human-aware planning which typically use the human task model alone and thus enables a new suite of capabilities of a human-aware AI agent. Finally, I will explore how the AI agent can leverage emerging mixed-reality interfaces to realize effective channels of communication with the human in the loop.
ContributorsChakraborti, Tathagata (Author) / Kambhampati, Subbarao (Thesis advisor) / Talamadupula, Kartik (Committee member) / Scheutz, Matthias (Committee member) / Ben Amor, Hani (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2018
Description
Detecting cyber-attacks in cyber systems is essential for protecting cyber infrastructures from cyber-attacks. It is very difficult to detect cyber-attacks in cyber systems due to their high complexity. The accuracy of the attack detection in the cyber systems depends heavily on the completeness of the collected sensor information. In this thesis, two approaches are presented: one to detecting attacks in completely observable cyber systems, and the other to estimating types of states in partially observable cyber systems for attack detection in cyber systems. These two approaches are illustrated using three large data sets of network traffic because the packet-level information of the network traffic data provides details about the cyber systems.
The approach to attack detection in cyber systems is based on a multimodal artificial neural network (MANN) using the collected network traffic data from completely observable cyber systems for training and testing. Since the training of MANN is computationally intensive, to reduce the computational overhead, an efficient feature selection algorithm using the genetic algorithm is developed and incorporated in this approach.
In order to detect attacks in cyber systems in partially observable environments, an approach to estimating the types of states in partially observable cyber systems, which is the first phase of attack detection in cyber systems in partially observable environments, is presented. The types of states of such cyber systems are useful to detecting cyber-attacks in such cyber systems. This approach involves the use of a convolutional neural network (CNN), and unsupervised learning with elbow method and k-means clustering algorithm.
The approach to attack detection in cyber systems is based on a multimodal artificial neural network (MANN) using the collected network traffic data from completely observable cyber systems for training and testing. Since the training of MANN is computationally intensive, to reduce the computational overhead, an efficient feature selection algorithm using the genetic algorithm is developed and incorporated in this approach.
In order to detect attacks in cyber systems in partially observable environments, an approach to estimating the types of states in partially observable cyber systems, which is the first phase of attack detection in cyber systems in partially observable environments, is presented. The types of states of such cyber systems are useful to detecting cyber-attacks in such cyber systems. This approach involves the use of a convolutional neural network (CNN), and unsupervised learning with elbow method and k-means clustering algorithm.
ContributorsGuha, Sayantan (Author) / Yau, Stephen S. (Thesis advisor) / Ahn, Gail-Joon (Committee member) / Huang, Dijiang (Committee member) / Arizona State University (Publisher)
Created2016
Description
Sports activities have been a cornerstone in the evolution of humankind through the ages from the ancient Roman empire to the Olympics in the 21st century. These activities have been used as a benchmark to evaluate the how humans have progressed through the sands of time. In the 21st century, machines along with the help of powerful computing and relatively new computing paradigms have made a good case for taking up the mantle. Even though machines have been able to perform complex tasks and maneuvers, they have struggled to match the dexterity, coordination, manipulability and acuteness displayed by humans. Bi-manual tasks are more complex and bring in additional variables like coordination into the task making it harder to evaluate.
A task capable of demonstrating the above skillset would be a good measure of the progress in the field of robotic technology. Therefore a dual armed robot has been built and taught to handle the ball and make the basket successfully thus demonstrating the capability of using both arms. A combination of machine learning techniques, Reinforcement learning, and Imitation learning has been used along with advanced optimization algorithms to accomplish the task.
A task capable of demonstrating the above skillset would be a good measure of the progress in the field of robotic technology. Therefore a dual armed robot has been built and taught to handle the ball and make the basket successfully thus demonstrating the capability of using both arms. A combination of machine learning techniques, Reinforcement learning, and Imitation learning has been used along with advanced optimization algorithms to accomplish the task.
ContributorsKalige, Nikhil (Author) / Amor, Heni Ben (Thesis advisor) / Shrivastava, Aviral (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2016
Description
Automated planning addresses the problem of generating a sequence of actions that enable a set of agents to achieve their goals.This work investigates two important topics from the field of automated planning, namely model-lite planning and multi-agent planning. For model-lite planning, I focus on a prominent model named Annotated PDDL and it's related application of robust planning. For this model, I try to identify a method of leveraging additional domain information (available in the form of successful plan traces). I use this information to refine the set of possible domains to generate more robust plans (as compared to the original planner) for any given problem. This method also provides us a way of overcoming one of the major drawbacks of the original approach, namely the need for a domain writer to explicitly identify the annotations.
For the second topic, the central question I ask is ``{\em under what conditions are multiple agents actually needed to solve a given planning problem?}''. To answer this question, the multi-agent planning (MAP) problem is classified into several sub-classes and I identify the conditions in each of these sub-classes that can lead to required cooperation (RC). I also identify certain sub-classes of multi-agent planning problems (named DVC-RC problems), where the problems can be simplified using a single virtual agent. This insight is later used to propose a new planner designed to solve problems from these subclasses. Evaluation of this new planner on all the current multi-agent planning benchmarks reveals that most current multi-agent planning benchmarks only belong to a small subset of possible classes of multi-agent planning problems.
For the second topic, the central question I ask is ``{\em under what conditions are multiple agents actually needed to solve a given planning problem?}''. To answer this question, the multi-agent planning (MAP) problem is classified into several sub-classes and I identify the conditions in each of these sub-classes that can lead to required cooperation (RC). I also identify certain sub-classes of multi-agent planning problems (named DVC-RC problems), where the problems can be simplified using a single virtual agent. This insight is later used to propose a new planner designed to solve problems from these subclasses. Evaluation of this new planner on all the current multi-agent planning benchmarks reveals that most current multi-agent planning benchmarks only belong to a small subset of possible classes of multi-agent planning problems.
ContributorsSreedharan, Sarath (Author) / Kambhampati, Subbarao (Thesis advisor) / Zhang, Yu (Thesis advisor) / Ben Amor, Heni (Committee member) / Arizona State University (Publisher)
Created2016