AAAI Publications, 2013 AAAI Fall Symposium Series

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Reasoning with Uncertainties Over Existence of Objects
Vien Anh Ngo, Marc Toussaint

Last modified: 2013-11-12

Abstract


In this paper we consider planning problems in relationalMarkov processes where objects may “appear” or “disap-pear”, perhaps depending on previous actions or propertiesof other objects. For instance, problems which require to ex-plicitly generate or discover objects fall into this category. Inour formulation this requires to explicitly represent the un-certainty over the number of objects (dimensions or factors)in a dynamic Bayesian networks (DBN). Many formalisms(also existing ones) are conceivable to formulate such prob-lems. We aim at a formulation that facilitates inference andplanning. Based on a specific formulation we investigate twoinference methods—rejection sampling and reversible-jumpMCMC—to compute a posterior over the process conditionedon the first and last time slice (start and goal state). We willdiscuss properties, efficiency, and appropriateness of eachone.

Keywords


Planning under uncertainty, relational planning, Bayesian inference

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