In Goal-oriented Reinforcement learning, relabeling the raw goals in past experience to provide agents with hindsight ability is a major solution to the reward sparsity problem. In this paper, to enhance the diversity of relabeled goals, we develop FGI (Foresight Goal Inference), a new relabeling strategy that relabels the goals by looking into the future with a learned dynamics model. Besides, to improve sample efficiency, we propose to use the dynamics model to generate simulated trajectories for policy training. By integrating these two improvements, we introduce the MapGo framework (Model-Assisted Policy Optimization for Goal-oriented tasks). In our experiments, we first show the effectiveness of the FGI strategy compared with the hindsight one, and then show that the MapGo framework achieves higher sample efficiency when compared to model-free baselines on a set of complicated tasks.

Termination of logic programs with negated body atoms (here called general logic programs) is an important topic. One reason is that many computational mechanisms used to process negated atoms, like Clark's negation as failure and Chan's constructive negation, are based on termination conditions. This paper introduces a methodology for proving termination of general logic programs w.r.t. the Prolog selection rule. The idea is to distinguish parts of the program depending on whether or not their termination depends on the selection rule. To this end, the notions of low-, weakly up-, and up-acceptable program are introduced. We use these notions to develop a methodology for proving termination of general logic programs, and show how interesting problems in non-monotonic reasoning can be formalized and implemented by means of terminating general logic programs.