The capability of collaboration is critical in the design of symbiotic cognitive systems. To obtain this functional capability, a cognitive system should possess evaluative and communicative processes. Emotions and their underlying processes provide such functions in social and collaborative environments. We investigate the mutual influence of affective and collaboration processes in a cognitive theory to support the interaction between humans and robots or virtual agents. We have developed new algorithms for these processes, as well as a new overall computational model for implementing collaborative robots and agents. We build primarily on the cognitive appraisal theory of emotions and the SharedPlans theory of collaboration to investigate the structure, fundamental processes and functions of emotions in a collaboration context.

To enable effective collaborations between humans and cognitive robots, it is important for robots to continuously acquire task knowledge from human partners. To address this issue, we are currently developing a framework that supports task learning through visual demonstration and natural language dialogue. One core component of this framework is the integration of language and vision that is driven by dialogue for task knowledge learning. This paper describes our on-going effort, particularly, grounded task learning through joint processing of video and dialogue using And-Or-Graphs (AOG).

Home environments constitute a main target location where to deploy robots, which are expected to help humans in completing their tasks. However, modern robots do not meet yet user's expectations in terms of both knowledge and skills. In this scenario, users can provide robots with knowledge and help them in performing tasks, through a continuous human-robot interaction. This human-robot cooperation setting in shared environments is known as Symbiotic Autonomy or Symbiotic Robotics. In this paper, we address the problem of an effective coexistence of robots and humans, by analyzing the proposed approaches in literature and by presenting our perspective on the topic. In particular, our focus is on specific contexts that can be embraced within Symbiotic Autonomy: Human Augmented Semantic Mapping, Task Teaching and Social Robotics. Finally, we sketch our view on the problem of knowledge acquisition in robotic platforms by introducing three essential aspects that are to be dealt with: environmental, procedural and social knowledge.

It is well known that the title of an article impacts how well it is discovered by potential readers and read. With both people and search engines, acting on behalf of people, accessing papers from digital libraries, it is important that the paper titles should promote discovery. In this paper, we investigate the characteristics of titles of AI papers and then propose au- tomatic ways to augment them so that they can be better in- dexed and discovered by users. A user study with researchers shows that they overwhelmingly prefer the augmented titles over the originals for being more helpful.

The general public shows great potential for utilizing scientific research. For example, a singer discovered her ectopic pregnancy by looking up clinical case reports. However, an exorbitant paywall impedes the public’s access to scientific literature. Our case study on a social network demonstrates a growing need for non-open access publications, especially for biomedical literature. The challenge is that non-open access papers are protected by copyright licenses that bar free distribution. In this paper, we propose a technical framework that leverages the doctrine of "idea-expression dichotomy" to bring ideas across paywalls. Idea-expression dichotomy prevents copyright holders from monopolizing ideas, theories, facts, and concepts. Therefore facts may pass through paywalls unencumbered by copyright license restrictions. Existing fact extraction methods (such as information extraction) require either large training sets or domain knowledge, which is intractable for the diverse biomedical scope spanning from clinical findings to genomics. We therefore develop a rule-based system to represent and extract facts. Social networkers and academics validated the effectiveness of our approach. 7 out of 9 users rated the paper’s information from the facts to be above average (≥6/10). Only 7% of the extracted facts were rated misleading.

Scientific charts in the web, whether as images or embedded in digital documents, contain valuable information that is not fully available to information retrieval tools. The information used to describe these charts is typically extracted from the image metadata rather than the information the graphic was initially designed to express. The problem of understanding digital charts found in scholarly documents, and inferring useful textual information from their graphical components is the focus of this study. We present an approach to automatically read the chart data, specifically bar charts, and provide the user with a textual summary of the chart. The proposed method follows a knowledge discovery approach that relies on a versatile graph representation of the chart. This representation is derived from analyzing a chart's original data values, from which useful features are extracted. The data features are in turn used to construct a semantic-graph. To generate a summary, the semantic-graph of the chart is mapped to appropriately crafted protoforms, which are constructs based on fuzzy logic. We verify the effectiveness of our framework by conducting experiments on bar charts extracted from over 1,000 PDF documents. Our preliminary results show that, under certain assumptions, 83% of the produced summaries provide plausible descriptions of the bar charts.

Temporal logics have been used in autonomous planningto represent and reason about temporal planning problems.However, such techniques have typically been restricted toeither (1) representing actions, events, and goals with temporalproperties or (2) planning for temporally-extended goalsunder restrictive conditions of classical planning. We introduceMixed Propositional Metric Temporal Logic (MPMTL),where formulae in MPMTL are built over mixed binary andcontinuous real variables. MPMTL provides a natural, flexibleformalism for representing and reasoning about temporalproblems. We analyze the complexity of MPMTL formulaesatisfiability and model checking, and identify MPMTLfragments with lower complexity. We also introduce an approachto world modeling using a timeline vector, relevant totemporal planning with continuous change (as opposed to theuse of discrete states). Our model supports retroactive actionprogression, concurrent and overlapping actions with discreteand continuous changes, and concurrent effects to the samevariable. For reasoning about this temporal planning problem,we define a progression function for actions with thenew temporal properties and a solution to this temporal task.

Many practical applications (e.g., plannning for cyber-physical systems) require reasoning about hybrid domains that contain both probabilistic and nondeterministic parametric uncertainty. In general, this is an undecidable problem. We use delta-satisfiability to sidestep undecidability, and we develop an algorithm that computes an enclosure for the range of probability of reaching a goal region in a given number of discrete steps. We utilize SMT techniques that enable reasoning in a safe way, i.e., the computed enclosure is formally guaranteed to contain the reachability probability. We demonstrate the usefulness of our technique on challenging nonlinear hybrid domains.

We present a framework that enables online planning for robotic systems in dynamic environments. The PLANrm framework presented in this work utilizes the theory of robustness and monitoring of Metric Temporal Logic (MTL) specifications to inspect and modify available plans to both avoid obstacles and satisfy specifications in a dynamic environment. The use of MTL allows the practitioner to set complex event and timing based specifications that need to be satisfied in the execution of the plan. The monitoring algorithm inspects the possible paths in a bounded window and selects and adjusts a path to satisfy the specifications. In this paper, we present initial results on the framework and an extended summary of the algorithmic results. The approach is illustrated using a running example of a car-like model with a number of MTL specifications.

This paper describes Hy-CIRCA, an architecture for verified, correct-by-construction planning and execution for hy- brid systems, including non-linear continuous dynamics. Hy-CIRCA addresses the high computational complexity of such systems by first planning at an abstract level, and then progressively refining the original plan. Hy-CIRCA is an extension of our Playbook approach, which aims to make it easy for users to exert supervisory control over multiple autonomous systems by “calling a play.” The Playbook approach is implemented by combining (1) a human-machine interface for commanding and monitoring the autonomous systems; (2) a hierarchical planner for translating commands into executable plans; and (3) a smart executive to manage plan execution by coordinating the control systems of the individual autonomous agents, tracking plan execution, and triggering replanning when necessary. Hy-CIRCA integrates the dReal non-linear SMT solver, with enhanced versions of the SHOP2 HTN planner and the CIRCA Controller Synthesis Module (CSM). Hy-CIRCA’s planning process has 5 steps: (1) Using SHOP2, compute an approximate mission plan. While computing this plan, compute a hybrid automaton model of the plan, featuring more expressive continuous dynamics. (2) Using dReal, solve this hybrid model, establishing the correctness of the plan, and computing values for its continuous parameters. To execute the plan, (3) extract from the plan specifications for closed-loop, hard real-time supervisory controllers for the agents that must execute the plan. (4) Based upon these specifications, use the CIRCA CSM to plan the controllers. To ensure correct execution, (5) verify the CSM-generated controllers with dReal.