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Description
Knowledge Representation (KR) is one of the prominent approaches to Artificial Intelligence (AI) that is concerned with representing knowledge in a form that computer systems can utilize to solve complex problems. Answer Set Programming (ASP), based on the stable model semantics, is a widely-used KR framework that facilitates elegant and efficient representations for many problem domains that require complex reasoning.
However, while ASP is effective on deterministic problem domains, it is not suitable for applications involving quantitative uncertainty, for example, those that require probabilistic reasoning. Furthermore, it is hard to utilize information that can be statistically induced from data with ASP problem modeling.
This dissertation presents the language LP^MLN, which is a probabilistic extension of the stable model semantics with the concept of weighted rules, inspired by Markov Logic. An LP^MLN program defines a probability distribution over "soft" stable models, which may not satisfy all rules, but the more rules with the bigger weights they satisfy, the bigger their probabilities. LP^MLN takes advantage of both ASP and Markov Logic in a single framework, allowing representation of problems that require both logical and probabilistic reasoning in an intuitive and elaboration tolerant way.
This dissertation establishes formal relations between LP^MLN and several other formalisms, discusses inference and weight learning algorithms under LP^MLN, and presents systems implementing the algorithms. LP^MLN systems can be used to compute other languages translatable into LP^MLN.
The advantage of LP^MLN for probabilistic reasoning is illustrated by a probabilistic extension of the action language BC+, called pBC+, defined as a high-level notation of LP^MLN for describing transition systems. Various probabilistic reasoning about transition systems, especially probabilistic diagnosis, can be modeled in pBC+ and computed using LP^MLN systems. pBC+ is further extended with the notion of utility, through a decision-theoretic extension of LP^MLN, and related with Markov Decision Process (MDP) in terms of policy optimization problems. pBC+ can be used to represent (PO)MDP in a succinct and elaboration tolerant way, which enables planning with (PO)MDP algorithms in action domains whose description requires rich KR constructs, such as recursive definitions and indirect effects of actions.
However, while ASP is effective on deterministic problem domains, it is not suitable for applications involving quantitative uncertainty, for example, those that require probabilistic reasoning. Furthermore, it is hard to utilize information that can be statistically induced from data with ASP problem modeling.
This dissertation presents the language LP^MLN, which is a probabilistic extension of the stable model semantics with the concept of weighted rules, inspired by Markov Logic. An LP^MLN program defines a probability distribution over "soft" stable models, which may not satisfy all rules, but the more rules with the bigger weights they satisfy, the bigger their probabilities. LP^MLN takes advantage of both ASP and Markov Logic in a single framework, allowing representation of problems that require both logical and probabilistic reasoning in an intuitive and elaboration tolerant way.
This dissertation establishes formal relations between LP^MLN and several other formalisms, discusses inference and weight learning algorithms under LP^MLN, and presents systems implementing the algorithms. LP^MLN systems can be used to compute other languages translatable into LP^MLN.
The advantage of LP^MLN for probabilistic reasoning is illustrated by a probabilistic extension of the action language BC+, called pBC+, defined as a high-level notation of LP^MLN for describing transition systems. Various probabilistic reasoning about transition systems, especially probabilistic diagnosis, can be modeled in pBC+ and computed using LP^MLN systems. pBC+ is further extended with the notion of utility, through a decision-theoretic extension of LP^MLN, and related with Markov Decision Process (MDP) in terms of policy optimization problems. pBC+ can be used to represent (PO)MDP in a succinct and elaboration tolerant way, which enables planning with (PO)MDP algorithms in action domains whose description requires rich KR constructs, such as recursive definitions and indirect effects of actions.
ContributorsWang, Yi (Author) / Lee, Joohyung (Thesis advisor) / Baral, Chitta (Committee member) / Kambhampati, Subbarao (Committee member) / Natarajan, Sriraam (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2019
Description
Recent advancements in external memory based neural networks have shown promise
in solving tasks that require precise storage and retrieval of past information. Re-
searchers have applied these models to a wide range of tasks that have algorithmic
properties but have not applied these models to real-world robotic tasks. In this
thesis, we present memory-augmented neural networks that synthesize robot navigation policies which a) encode long-term temporal dependencies b) make decisions in
partially observed environments and c) quantify the uncertainty inherent in the task.
We extract information about the temporal structure of a task via imitation learning
from human demonstration and evaluate the performance of the models on control
policies for a robot navigation task. Experiments are performed in partially observed
environments in both simulation and the real world
in solving tasks that require precise storage and retrieval of past information. Re-
searchers have applied these models to a wide range of tasks that have algorithmic
properties but have not applied these models to real-world robotic tasks. In this
thesis, we present memory-augmented neural networks that synthesize robot navigation policies which a) encode long-term temporal dependencies b) make decisions in
partially observed environments and c) quantify the uncertainty inherent in the task.
We extract information about the temporal structure of a task via imitation learning
from human demonstration and evaluate the performance of the models on control
policies for a robot navigation task. Experiments are performed in partially observed
environments in both simulation and the real world
ContributorsSrivatsav, Nambi (Author) / Ben Amor, Hani (Thesis advisor) / Srivastava, Siddharth (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2018
Description
Classical planning is a field of Artificial Intelligence concerned with allowing autonomous agents to make reasonable decisions in complex environments. This work investigates
the application of deep learning and planning techniques, with the aim of constructing generalized plans capable of solving multiple problem instances. We construct a Deep Neural Network that, given an abstract problem state, predicts both (i) the best action to be taken from that state and (ii) the generalized “role” of the object being manipulated. The neural network was tested on two classical planning domains: the blocks world domain and the logistic domain. Results indicate that neural networks are capable of making such
predictions with high accuracy, indicating a promising new framework for approaching generalized planning problems.
the application of deep learning and planning techniques, with the aim of constructing generalized plans capable of solving multiple problem instances. We construct a Deep Neural Network that, given an abstract problem state, predicts both (i) the best action to be taken from that state and (ii) the generalized “role” of the object being manipulated. The neural network was tested on two classical planning domains: the blocks world domain and the logistic domain. Results indicate that neural networks are capable of making such
predictions with high accuracy, indicating a promising new framework for approaching generalized planning problems.
ContributorsNakhleh, Julia Blair (Author) / Srivastava, Siddharth (Thesis director) / Fainekos, Georgios (Committee member) / Computer Science and Engineering Program (Contributor) / School of International Letters and Cultures (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Facial Expressions Recognition using the Convolution Neural Network has been actively researched upon in the last decade due to its high number of applications in the human-computer interaction domain. As Convolution Neural Networks have the exceptional ability to learn, they outperform the methods using handcrafted features. Though the state-of-the-art models achieve high accuracy on the lab-controlled images, they still struggle for the wild expressions. Wild expressions are captured in a real-world setting and have natural expressions. Wild databases have many challenges such as occlusion, variations in lighting conditions and head poses. In this work, I address these challenges and propose a new model containing a Hybrid Convolutional Neural Network with a Fusion Layer. The Fusion Layer utilizes a combination of the knowledge obtained from two different domains for enhanced feature extraction from the in-the-wild images. I tested my network on two publicly available in-the-wild datasets namely RAF-DB and AffectNet. Next, I tested my trained model on CK+ dataset for the cross-database evaluation study. I prove that my model achieves comparable results with state-of-the-art methods. I argue that it can perform well on such datasets because it learns the features from two different domains rather than a single domain. Last, I present a real-time facial expression recognition system as a part of this work where the images are captured in real-time using laptop camera and passed to the model for obtaining a facial expression label for it. It indicates that the proposed model has low processing time and can produce output almost instantly.
ContributorsChhabra, Sachin (Author) / Li, Baoxin (Thesis advisor) / Venkateswara, Hemanth (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2019
Description
With improvements in automation and system capabilities, human responsibilities in those advanced systems can get more complicated; greater situational awareness and performance may be asked of human agents in roles such as fail-safe operators. This phenomenon of automation improvements requiring more from humans in the loop, is connected to the well-known “paradox of automation”. Unfortunately, humans have cognitive limitations that can constrain a person's performance on a task. If one considers human cognitive limitations when designing solutions or policies for human agents, then better results are possible. The focus of this dissertation is on improving human involvement in planning and execution for Sequential Decision Making (SDM) problems. Existing work already considers incorporating humans into planning and execution in SDM, but with limited consideration for cognitive limitations. The work herein focuses on how to improve human involvement through problems in motion planning, planning interfaces, Markov Decision Processes (MDP), and human-team scheduling. This done by first discussing the human modeling assumptions currently used in the literature and their shortcomings. Then this dissertation tackles a set of problems by considering problem-specific human cognitive limitations --such as those associated with memory and inference-- as well as use lessons from fields such as cognitive ergonomics.
ContributorsGopalakrishnan, Sriram (Author) / Kambhampati, Subbarao (Thesis advisor) / Srivastava, Siddharth (Committee member) / Scheutz, Matthias (Committee member) / Zhang, Yu (Tony) (Committee member) / Arizona State University (Publisher)
Created2022
Description
High-order Markov Chains are useful in a variety of situations. However, theseprocesses are limited in the complexity of the domains they can model. In complex
domains, Markov models can require 100’s of Gigabytes of ram leading to the need of a
parsimonious model. In this work, I present the Max Markov Chain (MMC). A robust
model for estimating high-order datasets using only first-order parameters. High-order
Markov chains (HMC) and Markov approximations (MTDg) struggle to scale to large
state spaces due to the exponentially growing number of parameters required to model
these domains. MMC can accurately approximate these models using only first-order
parameters given the domain fulfills the MMC assumption. MMC naturally has better
sample efficiency, and the desired spatial and computational advantages over HMCs and
approximate HMCs. I will present evidence demonstrating the effectiveness of MMC in a
variety of domains and compare its performance with HMCs and Markov
approximations.
Human behavior is inherently complex and challenging to model. Due to the high
number of parameters required for traditional Markov models, the excessive computing
requirements make real-time human simulation computationally expensive and
impractical. I argue in certain situations, the behavior of humans follows that of a
sparsely connected Markov model. In this work I focus on the subset of Markov Models
which are just that, sparsely connected.
ContributorsBucklew, Mitchell (Author) / Zhang, Yu T (Thesis advisor) / Srivastava, Siddharth (Committee member) / Kambhampati, Subbarao (Committee member) / Arizona State University (Publisher)
Created2022
Description
Many real-world planning problems can be modeled as Markov Decision Processes (MDPs) which provide a framework for handling uncertainty in outcomes of action executions. A solution to such a planning problem is a policy that handles possible contingencies that could arise during execution. MDP solvers typically construct policies for a problem instance without re-using information from previously solved instances. Research in generalized planning has demonstrated the utility of constructing algorithm-like plans that reuse such information. However, using such techniques in an MDP setting has not been adequately explored.
This thesis presents a novel approach for learning generalized partial policies that can be used to solve problems with different object names and/or object quantities using very few example policies for learning. This approach uses abstraction for state representation, which allows the identification of patterns in solutions such as loops that are agnostic to problem-specific properties. This thesis also presents some theoretical results related to the uniqueness and succinctness of the policies computed using such a representation. The presented algorithm can be used as fast, yet greedy and incomplete method for policy computation while falling back to a complete policy search algorithm when needed. Extensive empirical evaluation on discrete MDP benchmarks shows that this approach generalizes effectively and is often able to solve problems much faster than existing state-of-art discrete MDP solvers. Finally, the practical applicability of this approach is demonstrated by incorporating it in an anytime stochastic task and motion planning framework to successfully construct free-standing tower structures using Keva planks.
This thesis presents a novel approach for learning generalized partial policies that can be used to solve problems with different object names and/or object quantities using very few example policies for learning. This approach uses abstraction for state representation, which allows the identification of patterns in solutions such as loops that are agnostic to problem-specific properties. This thesis also presents some theoretical results related to the uniqueness and succinctness of the policies computed using such a representation. The presented algorithm can be used as fast, yet greedy and incomplete method for policy computation while falling back to a complete policy search algorithm when needed. Extensive empirical evaluation on discrete MDP benchmarks shows that this approach generalizes effectively and is often able to solve problems much faster than existing state-of-art discrete MDP solvers. Finally, the practical applicability of this approach is demonstrated by incorporating it in an anytime stochastic task and motion planning framework to successfully construct free-standing tower structures using Keva planks.
ContributorsKala Vasudevan, Deepak (Author) / Srivastava, Siddharth (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
Most planning agents assume complete knowledge of the domain, which may not be the case in scenarios where certain domain knowledge is missing. This problem could be due to design flaws or arise from domain ramifications or qualifications. In such cases, planning algorithms could produce highly undesirable behaviors. Planning with incomplete domain knowledge is more challenging than partial observability in the sense that the planning agent is unaware of the existence of such knowledge, in contrast to it being just unobservable or partially observable. That is the difference between known unknowns and unknown unknowns.
In this thesis, I introduce and formulate this as the problem of Domain Concretization, which is inverse to domain abstraction studied extensively before. Furthermore, I present a solution that starts from the incomplete domain model provided to the agent by the designer and uses teacher traces from human users to determine the candidate model set under a minimalistic model assumption. A robust plan is then generated for the maximum probability of success under the set of candidate models. In addition to a standard search formulation in the model-space, I propose a sample-based search method and also an online version of it to improve search time. The solution presented has been evaluated on various International Planning Competition domains where incompleteness was introduced by deleting certain predicates from the complete domain model. The solution is also tested in a robot simulation domain to illustrate its effectiveness in handling incomplete domain knowledge. The results show that the plan generated by the algorithm increases the plan success rate without impacting action cost too much.
In this thesis, I introduce and formulate this as the problem of Domain Concretization, which is inverse to domain abstraction studied extensively before. Furthermore, I present a solution that starts from the incomplete domain model provided to the agent by the designer and uses teacher traces from human users to determine the candidate model set under a minimalistic model assumption. A robust plan is then generated for the maximum probability of success under the set of candidate models. In addition to a standard search formulation in the model-space, I propose a sample-based search method and also an online version of it to improve search time. The solution presented has been evaluated on various International Planning Competition domains where incompleteness was introduced by deleting certain predicates from the complete domain model. The solution is also tested in a robot simulation domain to illustrate its effectiveness in handling incomplete domain knowledge. The results show that the plan generated by the algorithm increases the plan success rate without impacting action cost too much.
ContributorsSharma, Akshay (Author) / Zhang, Yu (Thesis advisor) / Fainekos, Georgios (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2020
Description
Robot motion planning requires computing a sequence of waypoints from an initial configuration of the robot to the goal configuration. Solving a motion planning problem optimally is proven to be NP-Complete. Sampling-based motion planners efficiently compute an approximation of the optimal solution. They sample the configuration space uniformly and hence fail to sample regions of the environment that have narrow passages or pinch points. These critical regions are analogous to landmarks from planning literature as the robot is required to pass through them to reach the goal.
This work proposes a deep learning approach that identifies critical regions in the environment and learns a sampling distribution to effectively sample them in high dimensional configuration spaces.
A classification-based approach is used to learn the distributions. The robot degrees of freedom (DOF) limits are binned and a distribution is generated from sampling motion plan solutions. Conditional information like goal configuration and robot location encoded in the network inputs showcase the network learning to bias the identified critical regions towards the goal configuration. Empirical evaluations are performed against the state of the art sampling-based motion planners on a variety of tasks requiring the robot to pass through critical regions. An empirical analysis of robotic systems with three to eight degrees of freedom indicates that this approach effectively improves planning performance.
This work proposes a deep learning approach that identifies critical regions in the environment and learns a sampling distribution to effectively sample them in high dimensional configuration spaces.
A classification-based approach is used to learn the distributions. The robot degrees of freedom (DOF) limits are binned and a distribution is generated from sampling motion plan solutions. Conditional information like goal configuration and robot location encoded in the network inputs showcase the network learning to bias the identified critical regions towards the goal configuration. Empirical evaluations are performed against the state of the art sampling-based motion planners on a variety of tasks requiring the robot to pass through critical regions. An empirical analysis of robotic systems with three to eight degrees of freedom indicates that this approach effectively improves planning performance.
ContributorsSrinet, Abhyudaya (Author) / Srivastava, Siddharth (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
The rise in popularity of applications and services that charge for access to proprietary trained models has led to increased interest in the robustness of these models and the security of the environments in which inference is conducted. State-of-the-art attacks extract models and generate adversarial examples by inferring relationships between a model’s input and output. Popular variants of these attacks have been shown to be deterred by countermeasures that poison predicted class distributions and mask class boundary gradients. Neural networks are also vulnerable to timing side-channel attacks. This work builds on top of Subneural, an attack framework that uses floating point timing side channels to extract neural structures. Novel applications of addition timing side channels are introduced, allowing the signs and arrangements of leaked parameters to be discerned more efficiently. Addition timing is also used to leak network biases, making the framework applicable to a wider range of targets. The enhanced framework is shown to be effective against models protected by prediction poisoning and gradient masking adversarial countermeasures and to be competitive with adaptive black box adversarial attacks against stateful defenses. Mitigations necessary to protect against floating-point timing side-channel attacks are also presented.
ContributorsVipat, Gaurav (Author) / Shoshitaishvili, Yan (Thesis advisor) / Doupe, Adam (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2023