Architectures for sparse hierarchical representation learning have recently been proposed for graph-structured data, but so far assume the absence of edge features in the graph. We close this gap and propose a method to pool graphs with edge features, inspired by the hierarchical nature of chemistry. In particular, we introduce two types of pooling layers compatible with an edge-feature graph-convolutional architecture and investigate their performance for molecules relevant to drug discovery on a set of two classification and two regression benchmark datasets of MoleculeNet. We find that our models significantly outperform previous benchmarks on three of the datasets and reach state-of-the-art results on the fourth benchmark, with pooling improving performance for three out of four tasks, keeping performance stable on the fourth task, and generally speeding up the training process.

In this paper, we discuss the learning of generalised policies for probabilistic and classical planning problems using Action Schema Networks (ASNets). The ASNet is a neural network architecture that exploits the relational structure of (P)PDDL planning problems to learn a common set of weights that can be applied to any problem in a domain. By mimicking the actions chosen by a traditional, non-learning planner on a handful of small problems in a domain, ASNets are able to learn a generalised reactive policy that can quickly solve much larger instances from the domain. This work extends the ASNet architecture to make it more expressive, while still remaining invariant to a range of symmetries that exist in PPDDL problems. We also present a thorough experimental evaluation of ASNets, including a comparison with heuristic search planners on seven probabilistic and deterministic domains, an extended evaluation on over 18,000 Blocksworld instances, and an ablation study. Finally, we show that sparsity-inducing regularisation can produce ASNets that are compact enough for humans to understand, yielding insights into how the structure of ASNets allows them to generalise across a domain.

Creating an autonomous system to make scientific discoveries at a Nobel Prize level by 2050. With the system, AI would formulate hypotheses from enormous amounts of existing experimental data, and robots would conduct experiments to prove them. Achieving artificial hibernation technology by 2050, to help extend healthy human life spans.

A distinctive characteristic of combinatorial problems is their massive search space. This huge domain is due to the number of possible solutions that although finit e, grows exponentially with the amount of data. Some typical combinatorial problems are the search fo r the cheapest or shortest paths, internet data packets routing, protein structure prediction, and planni ng and scheduling of resources. In theory it is possible to find the optimal solution for each c ombinatorial problem by conducting an exhaustive search. However, in practice finding an optimal s olution is often an intractable problem, even for problems of modest size. In this paper, Answer Set Programming (ASP) is used to explor e how to solve the scheduling problem for an Automated Wet-etch Station (A WS) of a Semiconduct or Manufacturing System where the optimization objective is the makespan. If a robot is not use d to transfer jobs between baths, the problem can be approximated as a special case of the most general n o-wait scheduling flowshop problem. A flowshop is a multistage production process where all jobs m ust pass through the same stages. There is a set J of jobs with J N jobs in total.

The architecture described in this paper encodes a theory of intentions based on the the key principles of non-procrastination, persistence, and automatically limiting reasoning to relevant knowledge and observations. The architecture reasons with transition diagrams of any given domain at two different resolutions, with the fine-resolution description defined as a refinement of, and hence tightly-coupled to, a coarse-resolution description. Non-monotonic logical reasoning with the coarse-resolution description computes an activity (i.e., plan) comprising abstract actions for any given goal. Each abstract action is implemented as a sequence of concrete actions by automatically zooming to and reasoning with the part of the fine-resolution transition diagram relevant to the current coarse-resolution transition and the goal. Each concrete action in this sequence is executed using probabilistic models of the uncertainty in sensing and actuation, and the corresponding fine-resolution outcomes are used to infer coarse-resolution observations that are added to the coarse-resolution history. The architecture's capabilities are evaluated in the context of a simulated robot assisting humans in an office domain, on a physical robot (Baxter) manipulating tabletop objects, and on a wheeled robot (Turtlebot) moving objects to particular places or people. The experimental results indicate improvements in reliability and computational efficiency compared with an architecture that does not include the theory of intentions, and an architecture that does not include zooming for fine-resolution reasoning.

The automated home referred to as Smart Home is expected to offer fully customized services to its residents, reducing the amount of home labor, thus improving human beings' welfare. Service robots and Internet of Things (IoT) play the key roles in the development of Smart Home. The service provision with these two main components in a Smart Home environment requires: 1) learning and reasoning algorithms and 2) the integration of robot and IoT systems. Conventional computational intelligence-based learning and reasoning algorithms do not successfully manage dynamic changes in the Smart Home data, and the simple integrations fail to fully draw the synergies from the collaboration of the two systems. To tackle these limitations, we propose: 1) a stabilized memory network with a feedback mechanism which can learn user behaviors in an incremental manner and 2) a robot-IoT service provision framework for a Smart Home which utilizes the proposed memory architecture as a learning and reasoning module and exploits synergies between the robot and IoT systems. We conduct a set of comprehensive experiments under various conditions to verify the performance of the proposed memory architecture and the service provision framework and analyze the experiment results.

Humans can manipulate Rubik's cubes with relative ease, but robots have historically had a tougher go of it. That's not to suggest there aren't exceptions to the rule -- an MIT invention recently solved a cube in a record-breaking 0.38 seconds -- but they typically involve purpose-built motors and controls. Encouragingly, a group of researchers at Tencent and the Chinese University of Hong Kong say they've designed a Rubik's cube manipulator that uses multi-fingered hands. "Dexterous in-hand manipulation is a key building block for robots to achieve human-level dexterity, and accomplish everyday tasks which involve rich contact," wrote the researchers. "Despite concerted progress, reliable multi-fingered dexterous hand manipulation has remained an open challenge, due to its complex contact patterns, high dimensional action space, and fragile mechanical structure."

Stream reasoning systems are designed for complex decision-making from possibly infinite, dynamic streams of data. Modern approaches to stream reasoning are usually performing their computations using stand-alone solvers, which incrementally update their internal state and return results as the new portions of data streams are pushed. However, the performance of such approaches degrades quickly as the rates of the input data and the complexity of decision problems are growing. This problem was already recognized in the area of stream processing, where systems became distributed in order to allocate vast computing resources provided by clouds. In this paper we propose a distributed approach to stream reasoning that can efficiently split computations among different solvers communicating their results over data streams. Moreover, in order to increase the throughput of the distributed system, we suggest an interval-based semantics for the LARS language, which enables significant reductions of network traffic. Performed evaluations indicate that the distributed stream reasoning significantly outperforms existing stand-alone LARS solvers when the complexity of decision problems and the rate of incoming data are increasing.

Reiter's HS-Tree is one of the most popular diagnostic search algorithms due to its desirable properties and general applicability. In sequential diagnosis, where the addressed diagnosis problem is subject to successive change through the acquisition of additional knowledge about the diagnosed system, HS-Tree is used in a stateless fashion. That is, the existing search tree is discarded when new knowledge is obtained, albeit often large parts of the tree are still relevant and have to be rebuilt in the next iteration, involving redundant operations and costly reasoner calls. As a remedy to this, we propose DynamicHS, a variant of HS-Tree that avoids these redundancy issues by maintaining state throughout sequential diagnosis while preserving all desirable properties of HS-Tree. Preliminary results of ongoing evaluations in a problem domain where HS-Tree is the state-of-the-art diagnostic method suggest significant time savings achieved by DynamicHS by reducing expensive reasoner calls.

We present a system for online composite event recognition over streaming positions of commercial vehicles. Our system employs a data enrichment module, augmenting the mobility data with external information, such as weather data and proximity to points of interest. In addition, the composite event recognition module, based on a highly optimised logic programming implementation of the Event Calculus, consumes the enriched data and identifies activities that are beneficial in fleet management applications. We evaluate our system on large, real-world data from commercial vehicles, and illustrate its efficiency. Under consideration for acceptance in TPLP.