The robotics domain is challenging from a learning perspective, since subsequent observations are dependent and the environment is typically non-stationary. Successful modeling of sensorimotor relationships therefore necessitates an open-ended learning process that continuously updates existing models when novel observations become available, while at the same time respecting strict timing constraints. These requirements can be met by combining standard Bayesian regression with an exact update rule for incremental operation and a kernel approximation for non-linearity. The resulting method is characterized by a constant update complexity, which effectively allows lifelong operation. Furthermore, an experimental validation on predicting inverse dynamics of the iCub humanoid demonstrates superior generalization and timing performance with respect to competitive methods.

We study the computational complexity of finding the next most preferred solution in some common formalisms for representing constraints and preferences. The problem is computationally intractable for CSPs, but is polynomial for tree-shaped CSPs and tree-shaped fuzzy CSPs. On the other hand, it is intractable for weighted CSPs, even under restrictions on the constraint graph. For CP-nets, the problem is polynomial when the CP-net is acyclic. This remains so if we add (soft) constraints that are tree-shaped and topologically compatible with the CP-net.

In constraint solving, a critical bottleneck is the formulation of aneffective constraint model of an input problem. The Conjure system describedin this paper, a substantial step forward over prototype versions of Conjurepreviously reported, makes a valuable contribution to the automation ofconstraint modelling by automatically producing constraint models from theirspecifications in the abstract constraint specification language Essence. Aset of rules is used to refine an abstract specification into a concreteconstraint model. We demonstrate that this set of rules is readily extensibleto increase the space of possible constraint models Conjure can produce. Ourempirical results confirm that Conjure can reproduce successfully the kernelsof the constraint models of 32 benchmark problems found in the literature.

Freuder and Elfe (1996) introduced Neighborhood Inverse Consistency (NIC) for binary CSPs. In this paper, we introduce RNIC, the extension of NIC to non-binary CSPs, and describe a practical algorithm for enforcing it. We propose an adaptive strategy to weaken or strengthen this property based on the connectivity of the network. We demonstrate the effectiveness of RNIC as a full lookahead strategy during search for solving difficult benchmark problems.

The study of phase transition phenomenon of NP complete problems plays an important role in understanding the nature of hard problems. In this paper, we follow this line of research by considering the problem of counting solutions of Constraint Satisfaction Problems (#CSP). We consider the random model, i.e. RB model. We prove that phase transition of #CSP does exist as the number of variables approaches infinity and the critical values where phase transitions occur are precisely located. Preliminary experimental results also show that the critical point coincides with the theoretical derivation. Moreover, we propose an approximate algorithm to estimate the expectation value of the solutions number of a given CSP instance of RB model.

We extend the precedence constraints contexts heuristic (hpcc) to a temporal and numeric setting, and propose rules to account precedence constraints among comparison variables and logical variables. Experimental results on benchmark domains show that our extension has the potential to lead to better plan quality than that with the heuristic proposed by Eyerich and others.

In this paper, we investigate the hybrid tractability of binary Quantified Constraint Satisfaction Problems (QCSPs). First, a basic tractable class of binary QCSPs is identified by using the broken-triangle property. In this class, the variable ordering for the broken-triangle property must be same as that in the prefix of the QCSP. Second, we break this restriction to allow that existentially quantified variables can be shifted within or out of their blocks, and thus identify some novel tractable classes by introducing the broken-angle property. Finally, we identify a more generalized tractable class, i.e., the min-of-max extendable class for QCSPs.

Drescher and Walsh, to satisfiability modulo theories, the key idea is to incorporate 2010). Then, constraint answer sets of the resulting program theory-specific predicates into propositional formulas, can be characterized via Boolean assignments over and extending an ASP solver's decision engine for a atom(Π) body(Π) that do not violate a set of nogoods more high-level proof procedure. A promising approach to imposed by Π. Formally, a Boolean assignment A is a sequence constraint answer set programming (CASP) has been presented (σ

Web Service (WS) domains constitute an application field where automated planning can significantly contribute towards achieving customisable and adaptable compositions. Following the vision of using domain-independent planning and declarative complex goals to generate compositions based on atomic service descriptions, we apply a planning framework based on Constraint Satisfaction techniques to a domain consisting of WSs with diverse functionalities. One of the key requirements of such domains is the ability to address the incomplete knowledge problem, as well as recovering from failures that may occur during execution. We propose an algorithm for interleaving planning, monitoring and execution, where continual planning via altering the CSP is performed, under the light of the feedback acquired at runtime. The system is evaluated against a number of scenarios including real WSs, demonstrating the leverage of situations that can be effectively tackled with respect to previous approaches.

We introduce a bidding language for expressing negative value externalities in position auctions for online advertising. The unit-bidder constraints (UBC) language allows a bidder to condition a bid on its allocated slot and on the slots allocated to other bidders. We introduce a natural extension of the Generalized Second Price (GSP) auction, the expressive GSP (eGSP) auction, that induces truthful revelation of constraints for a rich subclass of unit-bidder types, namely downward-monotonic UBC. We establish the existence of envy-free Nash equilibrium in eGSP under a further restriction to a subclass of exclusion constraints, for which the standard GSP has no pure strategy Nash equilibrium. The equilibrium results are obtained by reduction to equilibrium analysis for reserve price GSP (Even-Dar et al. 2008). In considering the winner determination problem, which is NP-hard, we bound the approximation ratio for social welfare in eGSP and provide parameterized complexity results.