Graph neural networks (GNNs) are effective models for representation learning on graph-structured data. However, standard GNNs are limited in their expressive power, as they cannot distinguish graphs beyond the capability of the Weisfeiler-Leman (1-WL) graph isomorphism heuristic. This limitation motivated a large body of work, including higher-order GNNs, which are provably more powerful models. To date, higher-order invariant and equivariant networks are the only models with known universality results, but these results are practically hindered by prohibitive computational complexity. Thus, despite their limitations, standard GNNs are commonly used, due to their strong practical performance. In practice, GNNs have shown a promising performance when enhanced with random node initialization (RNI), where the idea is to train and run the models with randomized initial node features. In this paper, we analyze the expressive power of GNNs with RNI, and pose the following question: are GNNs with RNI more expressive than GNNs? We prove that this is indeed the case, by showing that GNNs with RNI are universal, a first such result for GNNs not relying on computationally demanding higher-order properties. We then empirically analyze the effect of RNI on GNNs, based on carefully constructed datasets. Our empirical findings support the superior performance of GNNs with RNI over standard GNNs. In fact, we demonstrate that the performance of GNNs with RNI is often comparable with or better than that of higher-order GNNs, while keeping the much lower memory requirements of standard GNNs. However, this improvement typically comes at the cost of slower model convergence. Somewhat surprisingly, we found that the convergence rate and the accuracy of the models can be improved by using only a partial random initialization regime.

The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack flexibility and portability. In this paper we present a framework based on Answer Set Programming (ASP) for the automated manipulation of articulated objects in a robot control architecture. In particular, ASP is employed for representing the configuration of the articulated object, for checking the consistency of such representation in the knowledge base, and for generating the sequence of manipulation actions. The framework is exemplified and validated on the Baxter dual-arm manipulator in a first, simple scenario. Then, we extend such scenario to improve the overall setup accuracy, and to introduce a few constraints in robot actions execution to enforce their feasibility. The extended scenario entails a high number of possible actions that can be fruitfully combined together. Therefore, we exploit macro actions from automated planning in order to provide more effective plans. We validate the overall framework in the extended scenario, thereby confirming the applicability of ASP also in more realistic Robotics settings, and showing the usefulness of macro actions for the robot-based manipulation of articulated objects.

A shallow semantical embedding for public announcement logic with relativized common knowledge is presented. This embedding enables the first-time automation of this logic with off-the-shelf theorem provers for classical higher-order logic. It is demonstrated (i) how meta-theoretical studies can be automated this way, and (ii) how non-trivial reasoning in the target logic (public announcement logic), required e.g. to obtain a convincing encoding and automation of the wise men puzzle, can be realized. Key to the presented semantical embedding -- in contrast, e.g., to related work on the semantical embedding of normal modal logics -- is that evaluation domains are modeled explicitly and treated as additional parameter in the encodings of the constituents of the embedded target logic, while they were previously implicitly shared between meta logic and target logic.

There are situations in which an agent should receive rewards only after having accomplished a series of previous tasks, that is, rewards are non-Markovian. One natural and quite general way to represent history-dependent rewards is via a Mealy machine, a finite state automaton that produces output sequences from input sequences. In our formal setting, we consider a Markov decision process (MDP) that models the dynamics of the environment in which the agent evolves and a Mealy machine synchronized with this MDP to formalize the non-Markovian reward function. While the MDP is known by the agent, the reward function is unknown to the agent and must be learned. Our approach to overcome this challenge is to use Angluin's $L^*$ active learning algorithm to learn a Mealy machine representing the underlying non-Markovian reward machine (MRM). Formal methods are used to determine the optimal strategy for answering so-called membership queries posed by $L^*$. Moreover, we prove that the expected reward achieved will eventually be at least as much as a given, reasonable value provided by a domain expert. We evaluate our framework on three problems. The results show that using $L^*$ to learn an MRM in a non-Markovian reward decision process is effective.

This volume contains a selection of papers presented at the 16th International Workshop on the ACL2 Theorem Prover and its Applications (ACL2-2020). The workshops are the premier technical forum for presenting research and experiences related to ACL2.

This book represents a selection of papers presented at the Inductive Logic Programming (ILP) workshop held at Cumberland Lodge, Great Windsor Park. The collection marks two decades since the first ILP workshop in 1991. During this period the area has developed into the main forum for work on logic-based machine learning. The chapters cover a wide variety of topics, ranging from theory and ILP implementations to state-of-the-art applications in real-world domains. The international contributors represent leaders in the field from prestigious institutions in Europe, North America and Asia.

We consider weighted structures, which extend ordinary relational structures by assigning weights, i.e. elements from a particular group or ring, to tuples present in the structure. We introduce an extension of first-order logic that allows to aggregate weights of tuples, compare such aggregates, and use them to build more complex formulas. We provide locality properties of fragments of this logic including Feferman-Vaught decompositions and a Gaifman normal form for a fragment called FOW1, as well as a localisation theorem for a larger fragment called FOWA1. This fragment can express concepts from various machine learning scenarios. Using the locality properties, we show that concepts definable in FOWA1 over a weighted background structure of at most polylogarithmic degree are agnostically PAC-learnable in polylogarithmic time after pseudo-linear time preprocessing.

Many systems are naturally modeled as Markov Decision Processes (MDPs), combining probabilities and strategic actions. Given a model of a system as an MDP and some logical specification of system behavior, the goal of synthesis is to find a policy that maximizes the probability of achieving this behavior. A popular choice for defining behaviors is Linear Temporal Logic (LTL). Policy synthesis on MDPs for properties specified in LTL has been well studied. LTL, however, is defined over infinite traces, while many properties of interest are inherently finite. Linear Temporal Logic over finite traces (LTLf) has been used to express such properties, but no tools exist to solve policy synthesis for MDP behaviors given finite-trace properties. We present two algorithms for solving this synthesis problem: the first via reduction of LTLf to LTL and the second using native tools for LTLf. We compare the scalability of these two approaches for synthesis and show that the native approach offers better scalability compared to existing automaton generation tools for LTL.

The gossip problem is described by Hedetniemi et al. in their survey [10] as follows: Gossiping refers to the information dissemination problem that exists when each member of a set A of n individuals knows a unique piece of information and must transmit it to every other person. The problem is solved by producing a sequence of unordered pairs (i, j), i, j A, each of which represents a phone call made between a pair of individuals, such that during each call the two people involved exchange all of the information they know at that time; and such that at the end of the sequence of calls, everybody knows everything. Such a calling sequence, which completes gossiping among the n people, is called complete. The gossip problem has been studied by many researchers, in particular, in the context of communication networks. While the most widely studied variant is the following optimization problem: M Minimize the number of calls in a complete calling sequence.

The problem we want to solve is how to generate all theorems of a given size in the implicational fragment of propositional intuitionistic linear logic. We start by filtering for linearity the proof terms associated by our Prolog-based theorem prover for Implicational Intuitionistic Logic. This works, but using for each formula a PSPACE-complete algorithm limits it to very small formulas. We take a few walks back and forth over the bridge between proof terms and theorems, provided by the Curry-Howard isomorphism, and derive step-by-step an efficient algorithm requiring a low polynomial effort per generated theorem. The resulting Prolog program runs in O(N) space for terms of size N and generates in a few hours 7,566,084,686 theorems in the implicational fragment of Linear Intuitionistic Logic together with their proof terms in normal form. As applications, we generate datasets for correctness and scalability testing of linear logic theorem provers and training data for neural networks working on theorem proving challenges. The results in the paper, organized as a literate Prolog program, are fully replicable. Keywords: combinatorial generation of provable formulas of a given size, intuitionistic and linear logic theorem provers, theorems of the implicational fragment of propositional linear intuitionistic logic, Curry-Howard isomorphism, efficient generation of linear lambda terms in normal form, Prolog programs for lambda term generation and theorem proving.