CORPP: Commonsense Reasoning and Probabilistic Planning, as Applied to Dialog with a Mobile Robot

In order to be fully robust and responsive to a dynamically changing real-world environment, intelligent robots will need to engage in a variety of simultaneous reasoning modalities. In particular, in this paper we consider their needs to i) reason with commonsense knowledge, ii) model their nondeterministic action outcomes and partial observability, and iii) plan toward maximizing long-term rewards. On one hand, Answer Set Programming (ASP) is good at representing and reasoning with commonsense and default knowledge, but is ill-equipped to plan under probabilistic uncertainty. On the other hand, Partially Observable Markov Decision Processes (POMDPs) are strong at planning under uncertainty toward maximizing long-term rewards, but are not designed to incorporate commonsense knowledge and inference. This paper introduces the CORPP algorithm which combines Plog, a probabilistic extension of ASP, with POMDPs to integrate commonsense reasoning with planning under uncertainty. Our approac...

• Type: Journal
• Year: 2015
• Where: AAAI
• Authors: Shiqi Zhang, Peter Stone
• Keywords: AAAI 2015, Intelligent Agents