Recently, planning based on answer set programming has been proposed as an approach towards realizing declarative planning systems. In this paper, we present the language Kc, which extends the declarative planning language K by action costs. Kc provides the notion of admissible and optimal plans, which are plans whose overall action costs are within a given limit resp. minimum over all plans (i.e., cheapest plans). As we demonstrate, this novel language allows for expressing some nontrivial planning tasks in a declarative way. Furthermore, it can be utilized for representing planning problems under other optimality criteria, such as computing ``shortest'' plans (with the least number of steps), and refinement combinations of cheapest and fastest plans. We study complexity aspects of the language Kc and provide a transformation to logic programs, such that planning problems are solved via answer set programming. Furthermore, we report experimental results on selected problems. Our experience is encouraging that answer set planning may be a valuable approach to expressive planning systems in which intricate planning problems can be naturally specified and solved.

We describe a system for specifying the effects of actions. Unlike those commonly used in AI planning, our system uses an action description language that allows one to specify the effects of actions using domain rules, which are state constraints that can entail new action effects from old ones. Declaratively, an action domain in our language corresponds to a nonmonotonic causal theory in the situation calculus. Procedurally, such an action domain is compiled into a set of logical theories, one for each action in the domain, from which fully instantiated successor state-like axioms and STRIPS-like systems are then generated. We expect the system to be a useful tool for knowledge engineers writing action specifications for classical AI planning systems, GOLOG systems, and other systems where formal specifications of actions are needed.

We develop, analyze, and evaluate a novel, supervised, specific-to-general learner for a simple temporal logic and use the resulting algorithm to learn visual event definitions from video sequences. First, we introduce a simple, propositional, temporal, event-description language called AMA that is sufficiently expressive to represent many events yet sufficiently restrictive to support learning. We then give algorithms, along with lower and upper complexity bounds, for the subsumption and generalization problems for AMA formulas. We present a positive-examples--only specific-to-general learning method based on these algorithms. We also present a polynomial-time--computable ``syntactic'' subsumption test that implies semantic subsumption without being equivalent to it. A generalization algorithm based on syntactic subsumption can be used in place of semantic generalization to improve the asymptotic complexity of the resulting learning algorithm. Finally, we apply this algorithm to the task of learning relational event definitions from video and show that it yields definitions that are competitive with hand-coded ones.

Dynamic programming algorithms have been successfully applied to propositional stochastic planning problems by using compact representations, in particular algebraic decision diagrams, to capture domain dynamics and value functions. Work on symbolic dynamic programming lifted these ideas to first order logic using several representation schemes. Recent work introduced a first order variant of decision diagrams (FODD) and developed a value iteration algorithm for this representation. This paper develops several improvements to the FODD algorithm that make the approach practical. These include, new reduction operators that decrease the size of the representation, several speedup techniques, and techniques for value approximation. Incorporating these, the paper presents a planning system, FODD-Planner, for solving relational stochastic planning problems. The system is evaluated on several domains, including problems from the recent international planning competition, and shows competitive performance with top ranking systems. This is the first demonstration of feasibility of this approach and it shows that abstraction through compact representation is a promising approach to stochastic planning.

Using the Hilbert-Bernays account as a spring-board, we first define four ways in which two objects can be discerned from one another, using the non-logical vocabulary of the language concerned. (These definitions are based on definitions made by Quine and Saunders.) Because of our use of the Hilbert-Bernays account, these definitions are in terms of the syntax of the language. But we also relate our definitions to the idea of permutations on the domain of quantification, and their being symmetries. These relations turn out to be subtle---some natural conjectures about them are false. We will see in particular that the idea of symmetry meshes with a species of indiscernibility that we will call `absolute indiscernibility'. We then report all the logical implications between our four kinds of discernibility. We use these four kinds as a resource for stating four metaphysical theses about identity. Three of these theses articulate two traditional philosophical themes: viz. the principle of the identity of indiscernibles (which will come in two versions), and haecceitism. The fourth is recent. Its most notable feature is that it makes diversity (i.e. non-identity) weaker than what we will call individuality (being an individual): two objects can be distinct but not individuals. For this reason, it has been advocated both for quantum particles and for spacetime points. Finally, we locate this fourth metaphysical thesis in a broader position, which we call structuralism. We conclude with a discussion of the semantics suitable for a structuralist, with particular reference to physical theories as well as elementary model theory.

We propose a purely extensional semantics for higher-order logic programming. In this semantics program predicates denote sets of ordered tuples, and two predicates are equal iff they are equal as sets. Moreover, every program has a unique minimum Herbrand model which is the greatest lower bound of all Herbrand models of the program and the least fixed-point of an immediate consequence operator. We also propose an SLD-resolution proof procedure which is proven sound and complete with respect to the minimum model semantics. In other words, we provide a purely extensional theoretical framework for higher-order logic programming which generalizes the familiar theory of classical (first-order) logic programming.

We provide a method of translating theories of Nute's defeasible logic into logic programs, and a corresponding translation in the opposite direction. Under certain natural restrictions, the conclusions of defeasible theories under the ambiguity propagating defeasible logic ADL correspond to those of the well-founded semantics for normal logic programs, and so it turns out that the two formalisms are closely related. Using the same translation of logic programs into defeasible theories, the semantics for the ambiguity blocking defeasible logic NDL can be seen as indirectly providing an ambiguity blocking semantics for logic programs. We also provide antimonotone operators for both ADL and NDL, each based on the Gelfond-Lifschitz (GL) operator for logic programs. For defeasible theories without defeaters or priorities on rules, the operator for ADL corresponds to the GL operator and so can be seen as partially capturing the consequences according to ADL. Similarly, the operator for NDL captures the consequences according to NDL, though in this case no restrictions on theories apply. Both operators can be used to define stable model semantics for defeasible theories.

We propose a logical/mathematical framework for statistical parameter learning of parameterized logic programs, i.e. definite clause programs containing probabilistic facts with a parameterized distribution. It extends the traditional least Herbrand model semantics in logic programming to distribution semantics, possible world semantics with a probability distribution which is unconditionally applicable to arbitrary logic programs including ones for HMMs, PCFGs and Bayesian networks. We also propose a new EM algorithm, the graphical EM algorithm, that runs for a class of parameterized logic programs representing sequential decision processes where each decision is exclusive and independent. It runs on a new data structure called support graphs describing the logical relationship between observations and their explanations, and learns parameters by computing inside and outside probability generalized for logic programs. The complexity analysis shows that when combined with OLDT search for all explanations for observations, the graphical EM algorithm, despite its generality, has the same time complexity as existing EM algorithms, i.e. the Baum-Welch algorithm for HMMs, the Inside-Outside algorithm for PCFGs, and the one for singly connected Bayesian networks that have been developed independently in each research field. Learning experiments with PCFGs using two corpora of moderate size indicate that the graphical EM algorithm can significantly outperform the Inside-Outside algorithm.

We propose a perspective on knowledge compilation which calls for analyzing different compilation approaches according to two key dimensions: the succinctness of the target compilation language, and the class of queries and transformations that the language supports in polytime. We then provide a knowledge compilation map, which analyzes a large number of existing target compilation languages according to their succinctness and their polytime transformations and queries. We argue that such analysis is necessary for placing new compilation approaches within the context of existing ones. We also go beyond classical, flat target compilation languages based on CNF and DNF, and consider a richer, nested class based on directed acyclic graphs (such as OBDDs), which we show to include a relatively large number of target compilation languages.

Inductive logic programming, or relational learning, is a powerful paradigm for machine learning or data mining. However, in order for ILP to become practically useful, the efficiency of ILP systems must improve substantially. To this end, the notion of a query pack is introduced: it structures sets of similar queries. Furthermore, a mechanism is described for executing such query packs. A complexity analysis shows that considerable efficiency improvements can be achieved through the use of this query pack execution mechanism. This claim is supported by empirical results obtained by incorporating support for query pack execution in two existing learning systems.