Learning and Reasoning for Robot Sequential Decision Making under Uncertainty

2020-06-02

Proceedings of the AAAI Conference on Artificial Intelligence, 34

Volume

Vol. 34 No. 03: AAAI-20 Technical Tracks 3

AAAI Technical Track: Knowledge Representation and Reasoning

Robots frequently face complex tasks that require more than one action, where sequential decision-making (sdm) capabilities become necessary. The key contribution of this work is a robot sdm framework, called lcorpp, that supports the simultaneous capabilities of supervised learning for passive state estimation, automated reasoning with declarative human knowledge, and planning under uncertainty toward achieving long-term goals. In particular, we use a hybrid reasoning paradigm to refine the state estimator, and provide informative priors for the probabilistic planner. In experiments, a mobile robot is tasked with estimating human intentions using their motion trajectories, declarative contextual knowledge, and human-robot interaction (dialog-based and motion-based). Results suggest that, in efficiency and accuracy, our framework performs better than its no-learning and no-reasoning counterparts in office environment.

10.1609/aaai.v34i03.5659