This paper resolves previous problems in the Multi-Strategy architecture for online learning of robotic behaviours. The hybrid method includes a symbolic qualitative planner that constructs an approximate solution to a control problem. The approximate solution provides constraints for a numerical optimisation algorithm, which is used to refine the qualitative plan into an operational policy. Introducing quantitative constraints into the planner gives previously unachievable domain independent reasoning. The method is demonstrated on a multi-tracked robot intended for urban search and rescue.

Partial MaxSAT (PMS) is a generalization to SAT and MaxSAT. Many real world problems can be encoded into PMS in a more natural and compact way than SAT and MaxSAT. In this paper, we propose new ideas for local search for PMS, which mainly rely on the distinction between hard and soft clauses. We use these ideas to develop a local search PMS algorithm called {\it Dist}. Experimental results on PMS benchmarks from MaxSAT Evaluation 2013 show that {\it Dist} significantly outperforms state-of-the-art PMS algorithms, including both local search algorithms and complete ones, on random and crafted benchmarks. For the industrial benchmark, {\it Dist} dramatically outperforms previous local search algorithms and is comparable with complete algorithms.

In multi-robot task allocation problems with in-schedule dependencies, tasks with high costs have a large influence on the total time required for a team of robots to complete all tasks. We reduce this influence by calculating a novel task cost dispersion value that measures robots' collective preference for each task. By modifying the winner determination phase of sequential single-item auctions, our approach inspects the bids for every task to identify tasks which robots collectively consider to be high cost and ensures these tasks are allocated prior to other tasks.Our empirical results show this method provides a significant reduction in the total time required to complete all tasks.

Stochastic local search (SLS) algorithms have shown effectiveness on satisfiable instances of the Boolean satisfiability (SAT) problem. However, their performance is still unsatisfactory on random k-SAT at the phase transition, which is of significance and is one of the empirically hardest distributions of SAT instances. In this paper, we propose a new heuristic called DCCA, which combines two configuration checking (CC) strategies with different definitions of configuration in a novel way. We use the DCCA heuristic to design an efficient SLS solver for SAT dubbed DCCASat. The experiments show that the DCCASat solver significantly outperforms a number of state-of-the-art solvers on extensive random k-SAT benchmarks at the phase transition. Moreover, DCCASat shows good performance on structured benchmarks, and a combination of DCCASat with a complete solver achieves state-of-the-art performance on structured benchmarks.

The Game Description Language GDL is the standard input language for general game-playing systems. While players can gain a lot of traction by an efficient inference algorithm for GDL, state-of-the-art reasoners suffer from a variant of a classical KR problem, the inferential frame problem. We present a method by which general game players can transform any given game description into a representation that solves this problem. Our experimental results demonstrate that with the help of automatically generated domain knowledge, a significant speedup can thus be obtained for the majority of the game descriptions from the AAAI competition.

Balanced knockout tournaments are one of the most common formats for sports competitions, and are also used in elections and decision-making. We consider the computational problem of finding the optimal draw for a particular player in such a tournament. The problem has generated considerable research within AI in recent years. We prove that checking whether there exists a draw in which a player wins is NP-complete, thereby settling an outstanding open problem. Our main result has a number of interesting implications on related counting and approximation problems. We present a memoization-based algorithm for the problem that is faster than previous approaches. Moreover, we highlight two natural cases that can be solved in polynomial time. All of our results also hold for the more general problem of counting the number of draws in which a given player is the winner.

Most controlled natural languages (CNLs) are processed with the help of a pipeline architecture that relies on different software components. We investigate in this paper in an experimental way how well answer set programming (ASP) is suited as a unifying framework for parsing a CNL, deriving a formal representation for the resulting syntax trees, and for reasoning with that representation. We start from a list of input tokens in ASP notation and show how this input can be transformed into a syntax tree using an ASP grammar and then into reified ASP rules in form of a set of facts. These facts are then processed by an ASP meta-interpreter that allows us to infer new knowledge.

A key problem in statistics and machine learning is the determination of network structure from data. We consider the case where the structure of the graph to be reconstructed is known to be scale-free. We show that in such cases it is natural to formulate structured sparsity inducing priors using submodular functions, and we use their Lov\'asz extension to obtain a convex relaxation. For tractable classes such as Gaussian graphical models, this leads to a convex optimization problem that can be efficiently solved. We show that our method results in an improvement in the accuracy of reconstructed networks for synthetic data. We also show how our prior encourages scale-free reconstructions on a bioinfomatics dataset.

Modeling videos and image-sets as linear subspaces has proven beneficial for many visual recognition tasks. However, it also incurs challenges arising from the fact that linear subspaces do not obey Euclidean geometry, but lie on a special type of Riemannian manifolds known as Grassmannian. To leverage the techniques developed for Euclidean spaces (e.g, support vector machines) with subspaces, several recent studies have proposed to embed the Grassmannian into a Hilbert space by making use of a positive definite kernel. Unfortunately, only two Grassmannian kernels are known, none of which -as we will show- is universal, which limits their ability to approximate a target function arbitrarily well. Here, we introduce several positive definite Grassmannian kernels, including universal ones, and demonstrate their superiority over previously-known kernels in various tasks, such as classification, clustering, sparse coding and hashing.

MiniZinc is a solver agnostic modeling language for defining and solver combinatorial satisfaction and optimization problems. MiniZinc provides a solver independent modeling language which is now supported by constraint programming solvers, mixed integer programming solvers, SAT and SAT modulo theory solvers, and hybrid solvers. Since 2008 we have run the MiniZinc challenge every year, which compares and contrasts the different strengths of different solvers and solving technologies on a set of MiniZinc models. Here we report on what we have learnt from running the competition for 6 years.