We propose a novel formal framework (called 3D-nCDC-ASP) to represent and reason about cardinal directions between extended objects in 3-dimensional (3D) space, using Answer Set Programming (ASP). 3D-nCDC-ASP extends Cardinal Directional Calculus (CDC) with a new type of default constraints, and nCDC-ASP to 3D. 3D-nCDC-ASP provides a flexible platform offering different types of reasoning: Nonmonotonic reasoning with defaults, checking consistency of a set of constraints on 3D cardinal directions between objects, explaining inconsistencies, and inferring missing CDC relations. We prove the soundness of 3D-nCDC-ASP, and illustrate its usefulness with applications. This paper is under consideration for acceptance in TPLP.

This paper studies novel subgoaling relaxations for automated planning with propositional and numeric state variables. Subgoaling relaxations address one source of complexity of the planning problem: the requirement to satisfy conditions simultaneously. The core idea is to relax this requirement by recursively decomposing conditions into atomic subgoals that are considered in isolation. Such relaxations are typically used for pruning, or as the basis for computing admissible or inadmissible heuristic estimates to guide optimal or satisificing heuristic search planners. In the last decade or so, the subgoaling principle has underpinned the design of an abundance of relaxation-based heuristics whose formulations have greatly extended the reach of classical planning. This paper extends subgoaling relaxations to support numeric state variables and numeric conditions. We provide both theoretical and practical results, with the aim of reaching a good trade-off between accuracy and computation costs within a heuristic state-space search planner. Our experimental results validate the theoretical assumptions, and indicate that subgoaling substantially improves on the state of the art in optimal and satisficing numeric planning via forward state-space search.

We focus on the problem of inducing logic programs that explain models learned by the support vector machine (SVM) algorithm. The top-down sequential covering inductive logic programming (ILP) algorithms (e.g., FOIL) apply hill-climbing search using heuristics from information theory. A major issue with this class of algorithms is getting stuck in a local optimum. In our new approach, however, the data-dependent hill-climbing search is replaced with a model-dependent search where a globally optimal SVM model is trained first, then the algorithm looks into support vectors as the most influential data points in the model, and induces a clause that would cover the support vector and points that are most similar to that support vector. Instead of defining a fixed hypothesis search space, our algorithm makes use of SHAP, an example-specific interpreter in explainable AI, to determine a relevant set of features. This approach yields an algorithm that captures SVM model's underlying logic and outperforms %GG: the FOIL algorithm --> other ILP algorithms other ILP algorithms in terms of the number of induced clauses and classification evaluation metrics. This paper is under consideration for publication in the journal of "Theory and practice of logic programming".

If you read a description of a static analysis in a paper, what might you find? There'll be some cute model of a language. Maybe some inference rules describing the analysis itself, but those rules probably rely on a variety of helper functions. These days, the analysis likely involves some logical reasoning: about the terms in the language, the branches conditionals might take, and so on. What makes a language good for implementing such an analysis? You'd want a variety of features: Aaron Bembenek, Steve Chong, and I have developed a design that hits the sweet spot of those four points: given Datalog as a core, you add constructors, pure ML, and a type-safe interface to SMT.

We elaborate upon the theoretical foundations of a metric temporal extension of Answer Set Programming. In analogy to previous extensions of ASP with constructs from Linear Temporal and Dynamic Logic, we accomplish this in the setting of the logic of Here-and-There and its nonmonotonic extension, called Equilibrium Logic. More precisely, we develop our logic on the same semantic underpinnings as its predecessors and thus use a simple time domain of bounded time steps. This allows us to compare all variants in a uniform framework and ultimately combine them in a common implementation. This article is under consideration for acceptance in TPLP.

In this paper we develop a concept aware multi-preferential semantics for dealing with typicality in description logics, where preferences are associated with concepts, starting from a collection of ranked TBoxes containing defeasible concept inclusions. Preferences are combined to define a preferential interpretation in which defeasible inclusions can be evaluated. The construction of the concept-aware multipreference semantics is related to Brewka's framework for qualitative preferences. We exploit Answer Set Programming (in particular, asprin) to achieve defeasible reasoning under the multipreference approach for the lightweight description logic EL+bot. The paper is under consideration for acceptance in TPLP.

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans' behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture. This manuscript is under consideration for acceptance in TPLP.

The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other, and subject to some constraints on the lengths of paths. We consider a general version of MAPF, called mMAPF, that involves multi-modal transportation modes (e.g., due to velocity constraints) and consumption of different types of resources (e.g., batteries). The real-world applications of mMAPF require flexibility (e.g., solving variations of mMAPF) as well as explainability. Our earlier studies on mMAPF have focused on the former challenge of flexibility. In this study, we focus on the latter challenge of explainability, and introduce a method for generating explanations for queries regarding the feasibility and optimality of solutions, the nonexistence of solutions, and the observations about solutions. Our method is based on answer set programming. This paper is under consideration for acceptance in TPLP.

Answer-Set Programming (ASP) is a powerful and expressive knowledge representation paradigm with a significant number of applications in logic-based AI. The traditional ground-and-solve approach, however, requires ASP programs to be grounded upfront and thus suffers from the so-called grounding bottleneck (i.e., ASP programs easily exhaust all available memory and thus become unsolvable). As a remedy, lazy-grounding ASP solvers have been developed, but many state-of-the-art techniques for grounded ASP solving have not been available to them yet. In this work we present, for the first time, adaptions to the lazy-grounding setting for many important techniques, like restarts, phase saving, domain-independent heuristics, and learned-clause deletion. Furthermore, we investigate their effects and in general observe a large improvement in solving capabilities and also uncover negative effects in certain cases, indicating the need for portfolio solving as known from other solvers. Under consideration for acceptance in TPLP.

In this paper, we study the problem of formal verification for Answer Set Programming (ASP), namely, obtaining a formal proof showing that the answer sets of a given (non-ground) logic program P correctly correspond to the solutions to the problem encoded by P, regardless of the problem instance. To this aim, we use a formal specification language based on ASP modules, so that each module can be proved to capture some informal aspect of the problem in an isolated way. This specification language relies on a novel definition of (possibly nested, first order) program modules that may incorporate local hidden atoms at different levels. Then, verifying the logic program P amounts to prove some kind of equivalence between P and its modular specification.