This paper resolves previous problems in the Multi-Strategy architecture for online learning of robotic behaviours. The hybrid method includes a symbolic qualitative planner that constructs an approximate solution to a control problem. The approximate solution provides constraints for a numerical optimisation algorithm, which is used to refine the qualitative plan into an operational policy. Introducing quantitative constraints into the planner gives previously unachievable domain independent reasoning. The method is demonstrated on a multi-tracked robot intended for urban search and rescue.

Scientists use two forms of knowledge in the construction ofexplanatory models: generalized entities and processes that relatethem; and constraints that specify acceptable combinations of thesecomponents. Previous research on inductive process modeling, whichconstructs models from knowledge and time-series data, has relied onhandcrafted constraints. In this paper, we report an approach todiscovering such constraints from a set of models that have beenranked according to their error on observations. Our approach adaptsinductive techniques for supervised learning to identify processcombinations that characterize accurate models. We evaluate themethod's ability to reconstruct known constraints and to generalizewell to other modeling tasks in the same domain. Experiments with synthetic data indicate that the approach can successfully reconstructknown modeling constraints. Another study using natural data suggests that transferring constraints acquired from one modeling scenario to another within the same domain considerably reduces the amount of search for candidate model structures while retaining the most accurate ones.

People constantly apply acquired knowledge to new learning tasks, but machines almost never do. Research on transfer learning attempts to address this dissimilarity. Working within this area, we report on a procedure that learns and transfers constraints in the context of inductive process modeling, which we review. After discussing the role of constraints in model induction, we describe the learning method, MISC, and introduce our metrics for assessing the cost and benefit of transferred knowledge. The reported results suggest that cross-domain transfer is beneficial in the scenarios that we investigated, lending further evidence that this strategy is a broadly effective means for increasing the efficiency of learning systems. We conclude by discussing the aspects of inductive process modeling that encourage effective transfer, by reviewing related strategies, and by describing future research plans for constraint induction and transfer learning.