arXiv subjects

Subbarao Kambhampati

Publications and source records attributed to Subbarao Kambhampati.

At least 109 records · Page 6Linked to original sources

arXiv2018

Twitter for Sparking a Movement, Reddit for Sharing the Moment: #metoo through the Lens of Social Media

Social media platforms are revolutionizing the way users communicate by increasing the exposure to highly stigmatized issues in the society. Sexual abuse is one such issue that recently took over social media via attaching the hashtag #metoo to the shared posts. Individuals with different backgrounds and ethnicities began sharing their unfortunate personal experiences of being assaulted. Through comparative analysis of the tweets via #meToo on Twitter versus the posts shared on the #meToo subreddit, this paper makes an initial attempt to assess public reactions and emotions. Though nearly equal ratios of negative and positive posts are shared on both platforms, Reddit posts are focused on the sexual assaults within families and workplaces while Twitter posts are on showing empathy and encouraging others to continue the #metoo movement. The data collected in this research and preliminary analysis demonstrate that users use various ways to share their experience, exchange ideas and encourage each other, and social media is suitable for groundswells such as #metoo movement.

cs.SI↗

arXiv2018

Discovering Underlying Plans Based on Shallow Models

Plan recognition aims to discover target plans (i.e., sequences of actions) behind observed actions, with history plan libraries or domain models in hand. Previous approaches either discover plans by maximally "matching" observed actions to plan libraries, assuming target plans are from plan libraries, or infer plans by executing domain models to best explain the observed actions, assuming that complete domain models are available. In real world applications, however, target plans are often not from plan libraries, and complete domain models are often not available, since building complete sets of plans and complete domain models are often difficult or expensive. In this paper we view plan libraries as corpora and learn vector representations of actions using the corpora, we then discover target plans based on the vector representations. Specifically, we propose two approaches, DUP and RNNPlanner, to discover target plans based on vector representations of actions. DUP explores the EM-style framework to capture local contexts of actions and discover target plans by optimizing the probability of target plans, while RNNPlanner aims to leverage long-short term contexts of actions based on RNNs (recurrent neural networks) framework to help recognize target plans. In the experiments, we empirically show that our approaches are capable of discovering underlying plans that are not from plan libraries, without requiring domain models provided. We demonstrate the effectiveness of our approaches by comparing its performance to traditional plan recognition approaches in three planning domains. We also compare DUP and RNNPlanner to see their advantages and disadvantages.

cs.AI↗

arXiv2018

Hierarchical Expertise-Level Modeling for User Specific Robot-Behavior Explanations

There is a growing interest within the AI research community to develop autonomous systems capable of explaining their behavior to users. One aspect of the explanation generation problem that has yet to receive much attention is the task of explaining plans to users whose level of expertise differ from that of the explainer. We propose an approach for addressing this problem by representing the user's model as an abstraction of the domain model that the planner uses. We present algorithms for generating minimal explanations in cases where this abstract human model is not known. We reduce the problem of generating explanation to a search over the space of abstract models and investigate possible greedy approximations for minimal explanations. We also empirically show that our approach can efficiently compute explanations for a variety of problems.

cs.AI↗

arXiv2018

Balancing Explicability and Explanation in Human-Aware Planning

Human aware planning requires an agent to be aware of the intentions, capabilities and mental model of the human in the loop during its decision process. This can involve generating plans that are explicable to a human observer as well as the ability to provide explanations when such plans cannot be generated. This has led to the notion "multi-model planning" which aim to incorporate effects of human expectation in the deliberative process of a planner - either in the form of explicable task planning or explanations produced thereof. In this paper, we bring these two concepts together and show how a planner can account for both these needs and achieve a trade-off during the plan generation process itself by means of a model-space search method MEGA. This in effect provides a comprehensive perspective of what it means for a decision making agent to be "human-aware" by bringing together existing principles of planning under the umbrella of a single plan generation process. We situate our discussion specifically keeping in mind the recent work on explicable planning and explanation generation, and illustrate these concepts in modified versions of two well known planning domains, as well as a demonstration on a robot involved in a typical search and reconnaissance task with an external supervisor.

cs.AI↗

arXiv2018

Plan Explanations as Model Reconciliation -- An Empirical Study

Recent work in explanation generation for decision making agents has looked at how unexplained behavior of autonomous systems can be understood in terms of differences in the model of the system and the human's understanding of the same, and how the explanation process as a result of this mismatch can be then seen as a process of reconciliation of these models. Existing algorithms in such settings, while having been built on contrastive, selective and social properties of explanations as studied extensively in the psychology literature, have not, to the best of our knowledge, been evaluated in settings with actual humans in the loop. As such, the applicability of such explanations to human-AI and human-robot interactions remains suspect. In this paper, we set out to evaluate these explanation generation algorithms in a series of studies in a mock search and rescue scenario with an internal semi-autonomous robot and an external human commander. We demonstrate to what extent the properties of these algorithms hold as they are evaluated by humans, and how the dynamics of trust between the human and the robot evolve during the process of these interactions.

cs.AI↗

arXiv2018

Algorithms for the Greater Good! On Mental Modeling and Acceptable Symbiosis in Human-AI Collaboration

Effective collaboration between humans and AI-based systems requires effective modeling of the human in the loop, both in terms of the mental state as well as the physical capabilities of the latter. However, these models can also open up pathways for manipulating and exploiting the human in the hopes of achieving some greater good, especially when the intent or values of the AI and the human are not aligned or when they have an asymmetrical relationship with respect to knowledge or computation power. In fact, such behavior does not necessarily require any malicious intent but can rather be borne out of cooperative scenarios. It is also beyond simple misinterpretation of intents, as in the case of value alignment problems, and thus can be effectively engineered if desired. Such techniques already exist and pose several unresolved ethical and moral questions with regards to the design of autonomy. In this paper, we illustrate some of these issues in a teaming scenario and investigate how they are perceived by participants in a thought experiment.

cs.AI↗

arXiv2017

What's up with Privacy?: User Preferences and Privacy Concerns in Intelligent Personal Assistants

The recent breakthroughs in Artificial Intelligence (AI) have allowed individuals to rely on automated systems for a variety of reasons. Some of these systems are the currently popular voice-enabled systems like Echo by Amazon and Home by Google that are also called as Intelligent Personal Assistants (IPAs). Though there are raising concerns about privacy and ethical implications, users of these IPAs seem to continue using these systems. We aim to investigate why users are concerned about privacy and how they are handling these concerns while using the IPAs. By utilizing the reviews posted online along with the responses to a survey, this paper provides a set of insights about the detected markers related to user interests and privacy challenges. The insights suggest that users of these systems irrespective of their concerns about privacy, are generally positive in terms of utilizing IPAs in their everyday lives. However, there is a significant percentage of users who are concerned about privacy and took further actions to address the related concerns. Some percentage of users expressed that they do not have any privacy concerns but when they learned about the "always listening" feature of these devices, their concern about privacy increased.

cs.CY↗

arXiv2017

Tweeting AI: Perceptions of AI-Tweeters (AIT) vs Expert AI-Tweeters (EAIT)

With the recent advancements in Artificial Intelligence (AI), various organizations and individuals started debating about the progress of AI as a blessing or a curse for the future of the society. This paper conducts an investigation on how the public perceives the progress of AI by utilizing the data shared on Twitter. Specifically, this paper performs a comparative analysis on the understanding of users from two categories -- general AI-Tweeters (AIT) and the expert AI-Tweeters (EAIT) who share posts about AI on Twitter. Our analysis revealed that users from both the categories express distinct emotions and interests towards AI. Users from both the categories regard AI as positive and are optimistic about the progress of AI but the experts are more negative than the general AI-Tweeters. Characterization of users manifested that `London' is the popular location of users from where they tweet about AI. Tweets posted by AIT are highly retweeted than posts made by EAIT that reveals greater diffusion of information from AIT.

cs.AI↗

arXiv2017

Tweeting AI: Perceptions of Lay vs Expert Twitterati

With the recent advancements in Artificial Intelligence (AI), various organizations and individuals are debating about the progress of AI as a blessing or a curse for the future of the society. This paper conducts an investigation on how the public perceives the progress of AI by utilizing the data shared on Twitter. Specifically, this paper performs a comparative analysis on the understanding of users belonging to two categories -- general AI-Tweeters (AIT) and expert AI-Tweeters (EAIT) who share posts about AI on Twitter. Our analysis revealed that users from both the categories express distinct emotions and interests towards AI. Users from both the categories regard AI as positive and are optimistic about the progress of AI but the experts are more negative than the general AI-Tweeters. Expert AI-Tweeters share relatively large percentage of tweets about their personal news compared to technical aspects of AI. However, the effects of automation on the future are of primary concern to AIT than to EAIT. When the expert category is sub-categorized, the emotion analysis revealed that students and industry professionals have more insights in their tweets about AI than academicians.

cs.AI↗

arXiv2017

AI Challenges in Human-Robot Cognitive Teaming

Among the many anticipated roles for robots in the future is that of being a human teammate. Aside from all the technological hurdles that have to be overcome with respect to hardware and control to make robots fit to work with humans, the added complication here is that humans have many conscious and subconscious expectations of their teammates - indeed, we argue that teaming is mostly a cognitive rather than physical coordination activity. This introduces new challenges for the AI and robotics community and requires fundamental changes to the traditional approach to the design of autonomy. With this in mind, we propose an update to the classical view of the intelligent agent architecture, highlighting the requirements for mental modeling of the human in the deliberative process of the autonomous agent. In this article, we outline briefly the recent efforts of ours, and others in the community, towards developing cognitive teammates along these guidelines.

cs.AI↗

arXiv2017

UbuntuWorld 1.0 LTS - A Platform for Automated Problem Solving & Troubleshooting in the Ubuntu OS

In this paper, we present UbuntuWorld 1.0 LTS - a platform for developing automated technical support agents in the Ubuntu operating system. Specifically, we propose to use the Bash terminal as a simulator of the Ubuntu environment for a learning-based agent and demonstrate the usefulness of adopting reinforcement learning (RL) techniques for basic problem solving and troubleshooting in this environment. We provide a plug-and-play interface to the simulator as a python package where different types of agents can be plugged in and evaluated, and provide pathways for integrating data from online support forums like AskUbuntu into an automated agent's learning process. Finally, we show that the use of this data significantly improves the agent's learning efficiency. We believe that this platform can be adopted as a real-world test bed for research on automated technical support.

cs.AI↗

arXiv2017

An ROS-based Shared Communication Middleware for Plug & Play Modular Intelligent Design of Smart Systems

Centralized architectures for systems such as smart offices and homes are rapidly becoming obsolete due to inherent inflexibility in their design and management. This is because such systems should not only be easily re-configurable with the addition of newer capabilities over time but should also have the ability to adapt to multiple points of failure. Fully harnessing the capabilities of these massively integrated systems requires higher level reasoning engines that allow them to plan for and achieve diverse long-term goals, rather than being limited to a few predefined tasks. In this paper, we propose a set of properties that will accommodate such capabilities, and develop a general architecture for integrating automated planning components into smart systems. We show how the reasoning capabilities are embedded in the design and operation of the system and demonstrate the same on a real-world implementation of a smart office.

cs.RO↗

arXiv2017

Plan Explanations as Model Reconciliation: Moving Beyond Explanation as Soliloquy

When AI systems interact with humans in the loop, they are often called on to provide explanations for their plans and behavior. Past work on plan explanations primarily involved the AI system explaining the correctness of its plan and the rationale for its decision in terms of its own model. Such soliloquy is wholly inadequate in most realistic scenarios where the humans have domain and task models that differ significantly from that used by the AI system. We posit that the explanations are best studied in light of these differing models. In particular, we show how explanation can be seen as a "model reconciliation problem" (MRP), where the AI system in effect suggests changes to the human's model, so as to make its plan be optimal with respect to that changed human model. We will study the properties of such explanations, present algorithms for automatically computing them, and evaluate the performance of the algorithms.

cs.AI↗

arXiv2017

Alternative Modes of Interaction in Proximal Human-in-the-Loop Operation of Robots

Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in electrophysiological monitoring methods and augmented reality technologies, to develop alternative modes of communication between humans and robots involved in large-scale proximal collaborative tasks. We will first introduce augmented reality techniques for projecting a robot's intentions to its human teammate, who can interact with these cues to engage in real-time collaborative plan execution with the robot. We will then look at how electroencephalographic (EEG) feedback can be used to monitor human response to both discrete events, as well as longer term affective states while execution of a plan. These signals can be used by a learning agent, a.k.a an affective robot, to modify its policy. We will present an end-to-end system capable of demonstrating these modalities of interaction. We hope that the proposed system will inspire research in augmenting human-robot interactions with alternative forms of communications in the interests of safety, productivity, and fluency of teaming, particularly in engineered settings such as the factory floor or the assembly line in the manufacturing industry where the use of such wearables can be enforced.

cs.RO↗

arXiv2016

Moving Target Defense for Web Applications using Bayesian Stackelberg Games

The present complexity in designing web applications makes software security a difficult goal to achieve. An attacker can explore a deployed service on the web and attack at his/her own leisure. Moving Target Defense (MTD) in web applications is an effective mechanism to nullify this advantage of their reconnaissance but the framework demands a good switching strategy when switching between multiple configurations for its web-stack. To address this issue, we propose modeling of a real-world MTD web application as a repeated Bayesian game. We then formulate an optimization problem that generates an effective switching strategy while considering the cost of switching between different web-stack configurations. To incorporate this model into a developed MTD system, we develop an automated system for generating attack sets of Common Vulnerabilities and Exposures (CVEs) for input attacker types with predefined capabilities. Our framework obtains realistic reward values for the players (defenders and attackers) in this game by using security domain expertise on CVEs obtained from the National Vulnerability Database (NVD). We also address the issue of prioritizing vulnerabilities that when fixed, improves the security of the MTD system. Lastly, we demonstrate the robustness of our proposed model by evaluating its performance when there is uncertainty about input attacker information.

cs.CR↗

arXiv2016

Compliant Conditions for Polynomial Time Approximation of Operator Counts

In this paper, we develop a computationally simpler version of the operator count heuristic for a particular class of domains. The contribution of this abstract is threefold, we (1) propose an efficient closed form approximation to the operator count heuristic using the Lagrangian dual; (2) leverage compressed sensing techniques to obtain an integer approximation for operator counts in polynomial time; and (3) discuss the relationship of the proposed formulation to existing heuristics and investigate properties of domains where such approaches appear to be useful.

cs.AI↗

arXiv2016

Proactive Decision Support using Automated Planning

Proactive decision support (PDS) helps in improving the decision making experience of human decision makers in human-in-the-loop planning environments. Here both the quality of the decisions and the ease of making them are enhanced. In this regard, we propose a PDS framework, named RADAR, based on the research in Automated Planning in AI, that aids the human decision maker with her plan to achieve her goals by providing alerts on: whether such a plan can succeed at all, whether there exist any resource constraints that may foil her plan, etc. This is achieved by generating and analyzing the landmarks that must be accomplished by any successful plan on the way to achieving the goals. Note that, this approach also supports naturalistic decision making which is being acknowledged as a necessary element in proactive decision support, since it only aids the human decision maker through suggestions and alerts rather than enforcing fixed plans or decisions. We demonstrate the utility of the proposed framework through search-and-rescue examples in a fire-fighting domain.

cs.HC↗

arXiv2016

Plan Explicability and Predictability for Robot Task Planning

Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add significant cognitive load and potentially introduce safety risks to humans when agents behave unexpectedly. Hence, for such agents to be helpful, one important requirement is for them to synthesize plans that can be easily understood by humans. While there exists previous work that studied socially acceptable robots that interact with humans in "natural ways", and work that investigated legible motion planning, there lacks a general solution for high level task planning. To address this issue, we introduce the notions of plan {\it explicability} and {\it predictability}. To compute these measures, first, we postulate that humans understand agent plans by associating abstract tasks with agent actions, which can be considered as a labeling process. We learn the labeling scheme of humans for agent plans from training examples using conditional random fields (CRFs). Then, we use the learned model to label a new plan to compute its explicability and predictability. These measures can be used by agents to proactively choose or directly synthesize plans that are more explicable and predictable to humans. We provide evaluations on a synthetic domain and with human subjects using physical robots to show the effectiveness of our approach

cs.AI↗