23rd Annual Workshop on Qualitative Reasoning

Commonsense Inference in Dynamic Spatial Systems “Phenomenal and Reasoning Requirements”

author:Mehul Bhatt, University of Bremen
published: July 22, 2009, recorded: June 2009, views: 77

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Slides

Slides
0:00	Commonsense Inference in Dynamic Spatial Systems
0:47	Overview
0:54	Commonsense Reasoning about the World
0:56	iCub Simulator (1)
1:01	iCub Simulator (2)
1:16	High-level Reasoning + Low-level Control (1)
1:18	High-level Reasoning + Low-level Control (2)
1:27	High-level Reasoning + Low-level Control (3)
1:39	High-level Reasoning + Low-level Control (4)
1:52	High-level Reasoning + Low-level Control (5)
2:19	High-level Reasoning + Low-level Control (6)
2:27	Integrating Grounding, Action and Control (1)
2:50	Integrating Grounding, Action and Control (2)
2:57	Integrating Grounding, Action and Control (3)
3:03	Commonsense and Space
3:24	Commonsense and Space - Motivation
3:44	Some key tasks (1)
3:46	Some key tasks (2)
3:57	Some key tasks (3)
4:07	Some key tasks (4)
4:16	Some key tasks (5)
4:26	Some key tasks (6)
4:34	Basic Level (1)
4:45	Basic Level (2)
5:10	Scenario: Static Scene Description in Room Space
5:20	Ontological Extensions for a Dynamic Setup (1)
5:36	Ontological Extensions for a Dynamic Setup (2)
5:53	Need a Dynamic Spatial Systems Perspective (1)
6:07	Need a Dynamic Spatial Systems Perspective (2)
6:19	Need a Dynamic Spatial Systems Perspective (3)
6:29	Need a Dynamic Spatial Systems Perspective (4)
6:42	Need a Dynamic Spatial Systems Perspective (5)
6:57	Need a Dynamic Spatial Systems Perspective (6)
7:18	Need a Dynamic Spatial Systems Perspective (7)
7:25	Need a Dynamic Spatial Systems Perspective (8)
7:34	Operationalising the Dynamic Spatial Systems Perspective (1)
7:37	Operationalising the Dynamic Spatial Systems Perspective (2)
7:41	Operationalising the Dynamic Spatial Systems Perspective (3)
7:44	Operationalising the Dynamic Spatial Systems Perspective (4)
7:48	Operationalising the Dynamic Spatial Systems Perspective (5)
7:50	Operationalising the Dynamic Spatial Systems Perspective (6)
8:03	Dynamic Spatial Systems in the Situation Calculus
8:49	Default and Non-Monotonic Aspects of Spatial Reasoning
9:35	Some notation (1)
9:44	Some notation (2)
9:52	Some notation (3)
10:04	Some notation (4)
10:07	Global Consistency and Ramifications (1)
10:28	Global Consistency and Ramifications (2)
10:48	Global Consistency and Ramifications (3)
11:24	Global compositional consistency (1)
11:27	Global compositional consistency (2)
11:38	Global compositional consistency (3)
11:50	Global compositional consistency (4)
12:00	Global compositional consistency: Final step (1)
12:10	Global compositional consistency: Final step (2)
12:23	Global compositional consistency: Final step (3)
12:31	Global compositional consistency: Final step (4)
12:50	Global compositional consistency: Final step (5)
12:56	2. Spatial property persistence (1)
12:59	2. Spatial property persistence (2)
13:17	2. Spatial property persistence (3)
13:19	2. Spatial property persistence (4)
13:23	3. Phenomenal aspects – Appearance and disappearance of objects
14:02	Appearance and Disappearance of Objects (1)
14:39	Appearance and Disappearance of Objects (2)
15:08	Appearance and Disappearance of Objects (3)
15:30	Need default reasoning about ‘non-existence’ (1)
15:54	Need default reasoning about ‘non-existence’ (2)
16:03	Need default reasoning about ‘non-existence’ (3)
16:22	Need default reasoning about ‘non-existence’ (4)
16:37	Need default reasoning about ‘non-existence’ (5)
16:49	4. Reasoning requirement – Explanation tasks (1)
17:06	4. Reasoning requirement – Explanation tasks (2)
17:22	Structure of Abductive Explanation (1)
17:27	Structure of Abductive Explanation (2)
17:32	Structure of Abductive Explanation (3)
17:41	Structure of Abductive Explanation (4)
17:45	Structure of Abductive Explanation (5)
17:50	Structure of Abductive Explanation (6)
17:56	Structure of Abductive Explanation (7)
18:02	Structure of Abductive Explanation (8)
18:03	Structure of Abductive Explanation (9)
18:10	Structure of Abductive Explanation (10)
18:12	Structure of Abductive Explanation (11)
18:26	Structure of Abductive Explanation (12)
18:38	Structure of Abductive Explanation (13)
19:11	Modelling explanation abductively in the situation calculus
19:37	Application Framework
19:41	An Experimental Cognitive Robotics Framework
19:57	Demo: High-level reasoning + low-level motion control
21:03	Integration of Robotcub (YARP & iCub) Ongoing
21:23	Outlook
21:26	Action and Control
21:57	Other application domains
22:15	Conclusion
22:41	- Questions

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Description

Spatial changes within an environment are typically a result of interaction— actions and events— occurring within. Reasoning about such changes, when dealt with formally within the context of qualitative spatial calculi and logics of action and change, poses several difficulties along multiple dimensions: (a) phenomenal requirements stemming from the dynamic nature of the spatial system (e.g., appearing and disappearing objects), (b) reasoning requirements (e.g., abductive explanation), (c) domain-independent or epistemological (e.g., persistence, ramification), and (d) aspects concerning the need to satisfy the intrinsic (axiomatic) properties of the spatial calculi (e.g., compositional consistency) being modelled. This paper, encompassing the phenomenal and reasoning aspects in (a) and (b) respectively, presents some instances that demonstrate the role of commonsense reasoning and the non-monotonic inference patterns it necessitates whilst representing and reasoning about dynamic spatial systems in general.