A popular approach to high dimensional control problems in robotics uses a library of candidate “maneuvers” or “trajectories”. The library is either evaluated on a fixed number of candidate choices at runtime (e.g. path set selection for planning) or by iterating through a sequence of feasible choices until success is achieved (e.g. grasp selection). The performance of the library relies heavily on the content and order of the sequence of candidates. We propose a provably efficient method to optimize such libraries, leveraging recent advances in optimizing submodular functions of sequences. This approach is demonstrated on two important problems: mobile robot navigation and manipulator grasp set selection. In the first case, performance can be improved by choosing a subset of candidates which optimizes the metric under consideration (cost of traversal). In the second case, performance can be optimized by minimizing the depth in the list that is searched before a successful candidate is found. Our method can be used in both on-line and batch settings with provable performance guarantees, and can be run in an anytime manner to handle real-time constraints.

We study the marginal-MAP problem on graphical models, and present a novel approximation method based on direct approximation of the sum operation. A primary difficulty of marginal-MAP problems lies in the non-commutativity of the sum and max operations, so that even in highly structured models, marginalization may produce a densely connected graph over the variables to be maximized, resulting in an intractable potential function with exponential size. We propose a chain decomposition approach for summing over the marginalized variables, in which we produce a structured approximation to the MAP component of the problem consisting of only pairwise potentials. We show that this approach is equivalent to the maximization of a specific variational free energy, and it provides an upper bound of the optimal probability. Finally, experimental results demonstrate that our method performs favorably compared to previous methods.

The presence of non-symmetric evidence has been a barrier for the application of lifted inference since the evidence destroys the symmetry of the first-order probabilistic model. In the extreme case, if distinct soft evidence is obtained about each individual object in the domain then, often, all current exact lifted inference methods reduce to traditional inference at the ground level. However, it is of interest to ask whether the symmetry of the model itself before evidence is obtained can be exploited. We present new results showing that this is, in fact, possible. In particular, we show that both exact maximum a posteriori (MAP) and marginal inference can be lifted for the case of distinct soft evidence on a unary Markov Logic predicate. Our methods result in efficient procedures for MAP and marginal inference for a class of graphical models previously thought to be intractable.

In this paper, we consider the problem of feasibly integrating new pick-up and delivery requests into existing vehicle itineraries in a dynamic, dial-a-ride problem (DARP) setting. Generalizing from previous work in oversubscribed task scheduling, we define a controlled iterative repair search procedure for finding an alternative set of vehicle itineraries in which the overall solution has been feasibly extended to include newly received requests. We first evaluate the performance of this technique on a set of DARP feasibility benchmark problems from the literature. We then consider its use on a real-world DARP problem, where it is necessary to accommodate all requests and constraints must be relaxed when a request cannot be feasibly integrated. For this latter analysis, we introduce a constraint relaxation post processing step and consider the performance impact of using our controlled iterative search over the current greedy search approach.

Tractability analysis in terms of the causal graphs of planning problems has emerged as an important area of research in recent years, leading to new methods for the derivation of domain-independent heuristics (Katz and Domshlak 2010). Here we continue this work, extending our knowledge of the frontier between tractable and NP-complete fragments. We close some gaps left in previous work, and introduce novel causal graph fragments that we call the hourglass and semifork, for which under certain additional assumptions optimal planning is in P. We show that relaxing any one of the restrictions required for this tractability leads to NP-complete problems. Our results are of both theoretical and practical interest, as these fragments can be used in existing frameworks to derive new abstraction heuristics. Before they can be used, however, a number of practical issues must be addressed. We discuss these issues and propose some solutions.

The early classifications of the computational complexity of planning under various restrictions in STRIPS (Bylander) and SAS+ (Bäckström and Nebel) have influenced following research in planning in many ways. We go back and reanalyse their subclasses, but this time using the more modern tool of parameterized complexity analysis. This provides new results that together with the old results give a more detailed picture of the complexity landscape. We demonstrate separation results not possible with standard complexity theory, which contributes to explaining why certain cases of planning have seemed simpler in practice than theory has predicted. In particular, we show that certain restrictions of practical interest are tractable in the parameterized sense of the term, and that a simple heuristic is sufficient to make a well-known partial-order planner exploit this fact.

Initiated by TAC 2010, aspect-guided summaries not only address specific user need, but also ameliorate content-level coherence by using aspect information. This paper presents a full-fledged system composed of three modules: finding sentence-level textual aspects, modeling aspect-based coherence with an HMM model, and selecting and ordering sentences with aspect information to generate coherent summaries. The evaluation results on the TAC 2011 datasets show the superiority of aspect-guided summaries in terms of both information coverage and textual coherence.

Predicting entailment between two given texts is an important task upon which the performance of numerous NLP tasks depend on such as question answering, text summarization, and information extraction. The degree to which two texts are similar has been used extensively as a key feature in much previous work in predicting entailment. However, using similarity scores directly, without proper transformations, results in suboptimal performance. Given a set of lexical similarity measures, we propose a method that jointly learns both (a) a set of non-linear transformation functions for those similarity measures and, (b) the optimal non-linear combination of those transformation functions to predict textual entailment. Our method consistently outperforms numerous baselines, reporting a micro-averaged F-score of 46.48 on the RTE- 7 benchmark dataset. The proposed method is ranked 2-nd among 33 entailment systems participated in RTE-7, demonstrating its competitiveness over numerous other entailment approaches. Although our method is statistically comparable to the current state-of-the-art, we require less external knowledge resources.

Social events are events that occur between people where at least one person is aware of the other and of the event taking place. Extracting social events can play an important role in a wide range of applications, such as the construction of social network. In this paper, we introduce the task of social event extraction for tweets, an important source of fresh events. One main challenge is the lack of information in a single tweet, which is rooted in the short and noise-prone nature of tweets. We propose to collectively extract social events from multiple similar tweets using a novel factor graph, to harvest the redundance in tweets, i.e., the repeated occurrences of a social event in several tweets. We evaluate our method on a human annotated data set, and show that it outperforms all baselines, with an absolute gain of 21% in F1.

Tweets have become an increasingly popular source of fresh information. We investigate the task of Nominal Semantic Role Labeling (NSRL) for tweets, which aims to identify predicate-argument structures defined by nominals in tweets. Studies of this task can help fine-grained information extraction and retrieval from tweets. There are two main challenges in this task: 1) The lack of information in a single tweet, rooted in the short and noisy nature of tweets; and 2) recovery of implicit arguments. We propose jointly conducting NSRL on multiple similar tweets using a graphical model, leveraging the redundancy in tweets to tackle these challenges. Extensive evaluations on a human annotated data set demonstrate that our method outperforms two baselines with an absolute gain of 2.7% in F1.