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The Cognitive Robotics Group
University of Toronto
Project Leaders: Hector Levesque Ray Reiter hector@ai.toronto.edu reiter@ai.toronto.edu Graduate Students: Mikhail Soutchanski Eugenia Ternovskaia m.soutchanski@utoronto.ca eugenia@cs.toronto.edu Research Assistants: Jeff Lloyd Daniel Marcu jlloyd@ai.toronto.edu marcu@ai.toronto.edu External Collaborators: Gerhard Lakemeyer Yves Lespérance gerhard@cs.rwth-aachen.de lesperan@yorku.ca Fangzhen Lin Sheila McIlraith flin@cs.ust.hk mcilrait@parc.xerox.com Javier Pinto Fiora Pirri jpinto@malloco.ing.puc.cl pirri@assi.dis.uniroma1.it Richard Scherl scherl@peirce.njit.edu
The Cognitive Robotics Group is concerned with endowing robotic or software agents with higher level cognitive functions that involve reasoning, for example, about goals, perception, actions, the mental states of other agents, collaborative task execution, etc. To do this, it is necessary to describe, in a language suitable for automated reasoning, enough of the properties of the robot, its abilities, and its environment, to permit it to make high-level decisions about how to act. The group has developed effective methods for representing and reasoning about the prerequisites and effects of actions, perception and other knowledge-producing actions, and natural events and actions by other agents. These methods have been incorporated into a logic programming language for agents called GOLOG (alGOl in LOGic). A prototype implementation of the language has been developed. Experiments have been conducted in using the language to build a high-level robot controller, some software agent applications (e.g. meeting scheduling), and more recently business process modeling tools.
List of Publications available in this archive
Papers submitted for publication
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http://www.cs.toronto.edu/~cogrobo/aijframe.ps.Z
R. Scherl and H.J. Levesque. The Frame Problem and Knowledge Producing Actions. Submitted to Artificial Intelligence. An earlier version appeared in AAAI-93.
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http://www.cs.toronto.edu/~cogrobo/occurrence.ps.Z
J. Pinto. Occurrences and narratives as constraints in the branching structure of the situation calculus. Submitted to the Journal of Logic and Computation.
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http://www.cs.toronto.edu/~cogrobo/aij-robots.ps.Z
Fangzhen Lin and Hector Levesque. What robots can do: Robot programs and effective achievability. Submitted.
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http://www.cs.toronto.edu/~cogrobo/metatheory.ps.Z
Fiora Pirri and Ray Reiter. Some contributions to the metatheory of the situation calculus.
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http://www.cs.yorku.ca/~lesperan/AAAIfallSymp98.ps
Y. Lespérance, K. Tam, and M. Jenkin. Reactivity in a Logic-Based Robot Programming Framework. Submitted to the AAAI Fall Symposium on Cognitive Robotics, April, 1998.
Book Draft
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http://www.cs.toronto.edu/~cogrobo/book.ps.Z
R. Reiter. KNOWLEDGE IN ACTION: Logical Foundations for Describing and Implementing Dynamical Systems.
Being a draft of the first eight chapters of a book on the situation calculus and its relevance to artificial intelligence, cognitive robotics, databases, programming languages, simulation, and control theory. Permission is granted to download copies for personal, non-commercial use. Oversights, corrections and advice will be gratefully (and gracefully) received.
GOLOG Interpreter
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http://www.cs.toronto.edu/~cogrobo/gologinterpreter
A GOLOG Interpreter in ECLIPSE Prolog
Permission to use, copy, and modify, this software and its documentation for research purpose is hereby granted without fee, provided that the above copyright notice appears in all copies and that both the copyright notice and this permission notice appear in supporting documentation, and that the name of The University of Toronto not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. The University of Toronto makes no representations about the suitability of this software for any purpose. It is provided "as is" without express or implied warranty. THE UNIVERSITY OF TORONTO DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL THE UNIVERSITY OF TORONTO BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
1998
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http://www.cs.toronto.edu/~funge/publications/phdthesispdf.html
J. Funge. Making Them Behave: Cognitive Models for Computer Animation, Ph.D. Thesis, University of Toronto, 1998.
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http://www.cs.toronto.edu/~cogrobo/aaaisymp98.ps.Z
H.J. Levesque and R. Reiter. High-level robotic control: beyond planning. A position paper for AAAI 1998 Spring Symposium: Integrating Robotics Research: Taking the Next Big Leap. Stanford University, March 23-25, 1998.
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http://www.cs.toronto.edu/~cogrobo/incr-exe.ps.Z
G. de Giacomo and H.J. Levesque. An incremental interpreter for high-level programs with sensing. Department of Computer Science, Univ. of Toronto, Technical Report, 1998.
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http://www.cs.toronto.edu/~cogrobo/monitoring.ps.Z
G. De Giacomo, R. Reiter and M. Soutchanski. Execution monitoring of high-level robot programs. Principles of Knowledge Representation and Reasoning: Proceedings of the Sixth International Conference (KR'98). To appear.
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http://www.cs.toronto.edu/~cogrobo/reiterkr98.ps.Z
R. Reiter. Sequential, temporal GOLOG. Principles of Knowledge Representation and Reasoning: Proceedings of the Sixth International Conference (KR'98). To appear.
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http://www.cs.toronto.edu/~cogrobo/aol-kr98.ps.Z
G. Lakemeyer and H.J. Levesque. AOL: a logic of acting, sensing, knowing, and only knowing. Principles of Knowledge Representation and Reasoning: Proceedings of the Sixth International Conference (KR'98). To appear.
1997
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http://www.cs.toronto.edu/~cogrobo/congologIJCAI97.ps.Z
G. De Giacomo, Y. Lespérance, and H.J. Levesque. Reasoning about Concurrent Execution, Prioritized Interrupts, and Exogenous Actions in the Situation Calculus, in the Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence , 1221-1226, Nagoya, August 1997.
Reasoning about concurrent execution, prioritized interrupts, and exogenous actions in the situation calculus.
Proc. International Joint Conference on Artificial Intelligence, 1997, pp. 1221-1226.
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http://www.cs.toronto.edu/~cogrobo/FTRA.ps.Z
Y. Lespérance, H.J. Levesque, and R. Reiter. A Situation Calculus Approach to Modeling and Programming Agents - Draft. Final version to appear in A. Rao and M. Wooldridge, editors, Foundations and Theories of Rational Agency , Kluwer, 1997.
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http://www.cs.toronto.edu/~cogrobo/bankingAgt.ps.Z
Y. Lespérance, H.J. Levesque, and S. Ruman. An Experiment in Using Golog to Build a Personal Banking Assistant. To appear in Intelligent Agent Systems: Theoretical and Practical Issues (Based on a Workshop Held at PRICAI '96 Cairns, Australia, August 1996), Cavedon, L., Rao, A., and Wobcke, W. (Eds.), LNAI volume 1209, 27-43, Springer-Verlag, 1997.
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http://www.cs.toronto.edu/~cogrobo/GOLOGlang.ps.Z
H.J. Levesque, R. Reiter, Y. Lespérance, F. Lin and R. Scherl. GOLOG: A Logic Programming Language for Dynamic Domains. Journal of Logic Programming , 31 , 59-84, 1997.
Golog: A Logic Programming Language for Dynamic Domains.
Journal of Logic Programming, vol. 31 (1997), pp. 59-84.
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http://www.cs.toronto.edu/~cogrobo/lp.ps.Z
F. Lin and R. Reiter. Rules as actions: A situation calculus semantics for logic programs. Journal of Logic Programming , Special issue on Reasoning about Action and Change. , 31 , 299-330, 1997.
Rules as Actions: A Situation Calculus Semantics for Logic Programs.
Journal of Logic Programming, vol. 31 (1997), pp. 299-330.
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http://www.cs.toronto.edu/~cogrobo/progress.ps.Z
F. Lin and R. Reiter. How to Progress a Database. Artificial Intelligence . 92 , 131-167, 1997. This paper revises and combines results that first appeared in Lin and Reiter [KR'94, IJCAI'95].
How to progress a database.
Artificial Intelligence Journal, vol. 92, pp. 131-167.
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http://www.cs.toronto.edu/~cogrobo/ordergelfond.ps.Z
Fangzhen Lin. An ordering on goals for planning. Annals of Mathematics and Artificial Intelligence. To appear.
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http://www.cs.toronto.edu/~cogrobo/lin-ijcai97.ps.Z
Fangzhen Lin. Applications of the situation calculus to formalizing control and strategic information: the Prolog cut operator. In Proceedings of IJCAI-97, pp. 1412-1418. (IJCAI-97 Distinguished Paper Award)
Applications of the Situation Calculus To Formalizing Control and Strategic Information: The Prolog Cut Operator.
Proc. International Joint Conference on Artificial Intelligence, 1997, pp. 1412-1419.
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http://www.cs.toronto.edu/~cogrobo/sheila-ijcai97.ps.Z
Sheila A. McIlraith. A Closed-Form Solution to the Ramification Problem (Sometimes) In Proceedings of the IJCAI'97 Workshop on Nonmonotonic Reasoning, Action and Change
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http://www.cs.toronto.edu/~cogrobo/sheila-aaai97.ps.Z
Sheila A. McIlraith. Representing Actions and State Constraints in Model-Based Diagnosis In Proceedings of the National Conference on Artificial Intelligence (AAAI--97) pp. 43-49.
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http://www.cs.toronto.edu/~cogrobo/sheila-dx97.ps.Z
Sheila A. McIlraith. Explanatory Diagnosis: Conjecturing actions to explain obsevations In Proceedings of the Eighth International Workshop on Principles of Diagnosis (DX'97), pp. 69-78, 1997.
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Sheila A. McIlraith. Towards a Formal Account of Diagnostic Problem Solving. Ph.D. Thesis. Department of Computer Science, University of Toronto, 1997.
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http://www.cs.toronto.edu/~cogrobo/AAAIfall97.ps.Z
S. Shapiro, Y. Lespérance, and H.J. Levesque. Specifying Communicative Multi-Agent Systems with ConGolog. In Working Notes of the AAAI Fall 1997 Symposium on Communicative Action in Humans and Machines, Cambridge, MA, November, 1997, AAAI Press.
1996
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http://www.cs.toronto.edu/~cogrobo/sensing.ps.Z
H.J. Levesque. What is planning in the presence of sensing? To appear in The Proceedings of the Thirteenth National Conference on Artificial Intelligence, AAAI-96, Portland, Oregon, August 1996. Copyright 1996, American Association for Artificial Intelligence. All rights reserved.
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http://www.cs.toronto.edu/~cogrobo/indtm.ps.Z
F. Lin. Embracing causality in specifying the indeterminate effects of actions. To be presented at AAAI'96. Copyright 1996, American Association for Artificial Intelligence. All rights reserved.
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http://www.cs.toronto.edu/~cogrobo/persist.ps.Z
F. Lin and Y. Shoham. On non-forgetting and minimal learning. To appear in Proc. of the 1993 Int. Coll. on Cognitive Science, N. Asher, K. Korta, and J. Ezquerro, editors, Kluwer Academic Publishers.
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http://www.cs.toronto.edu/~cogrobo/natural.ps.Z
R. Reiter. Natural actions, concurrency and continuous time in the situation calculus. In Principles of Knowledge Representation and Reasoning: Proceedings of the Fifth International Conference (KR'96) , Cambridge, Massachusetts, U.S.A. November 5-8, 1996.
Natural Actions, Concurrency and Continuous Time in the Situation Calculus.
Proc. International Conf on Knowledge Representation and Reasoning, 1996, pp. 2-13.
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http://www.cs.toronto.edu/~cogrobo/schedule.ps.Z
R. Reiter and Y. Zheng. Scheduling in the situation calculus: a case study. To appear in Annals of Mathematics and Artificial Intelligence, special issue on logic programming, nonmonotonic reasoning and action.
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http://www.cs.toronto.edu/~cogrobo/toilet.ps.Z
T. Kelley. Reasoning about physical systems with the situation calculus. Presented at Common Sense 96, Third Symposium on Logical Formalizations of Commonsense Reasoning, Stanford, CA, Jan 5-7, 1996.
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http://www.cs.toronto.edu/~cogrobo/dagstuhl.ps.Z
T. Kelley. Modeling complex systems in the situation calculus: A case study using the Dagstuhl steam boiler problem. In Principles of Knowledge Representation and Reasoning: Proceedings of the Fifth International Conference (KR'96), Cambridge, Massachusetts, U.S.A. November 5-8, 1996.
Modeling Complex Systems in the Situation Calculus: A Case Study Using the Dagstuhl Steam Boiler Problem.
Proc. International Conf on Knowledge Representation and Reasoning, 1996, pp. 26-39.
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http://www.cs.utoronto.ca/~eric/ieeeexp/ieeeexp2.html
E.S.K. Yu, J. Mylopoulos, and Y. Lespérance. AI Models for Business Process Reengineering. IEEE Expert , 11 , 16-23, 1996.
1995
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http://www.cs.toronto.edu/~cogrobo/noise.ps.Z
F. Bacchus, J.Y. Halpern, and H. Levesque. Reasoning about Noisy Sensors in the Situation Calculus. In Proc. IJCAI-95. Mellish, C.S. (ed.) pp. 1933-1940, Montreal, August 1995.
Reasoning About Noisy Sensors in the Situation Calculus.
Proc. International Joint Conference on Artificial Intelligence, 1995, pp. 1933-1940.
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http://www.cs.toronto.edu/~cogrobo/ieee-tse.ps.Z
A. Borgida, J. Mylopoulos and R. Reiter. On the Frame Problem in Procedure Specifications. IEEE Trans. on Software Engineering , 21 (10), Oct. 1995, pp.785-798.
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http://www.cs.toronto.edu/~cogrobo/agentprog.ps.Z
Y. Lespérance, H. Levesque, F. Lin, D. Marcu, R. Reiter, and R. Scherl. Foundations of a Logical Approach to Agent Programming. To appear in M. Wooldridge, J.P. Müller, and M. Tambe, editors, Intelligent Agents Volume II -- Proceedings of the 1995 Workshop on Agent Theories, Architectures, and Languages (ATAL-95), pp. 331-346, Springer-Verlag, Lecture Notes in Artificial Intelligence, 1996.
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http://www.cs.toronto.edu/~cogrobo/agentprogfr.ps.Z
Y. Lespérance, H. Levesque, F. Lin, D. Marcu, R. Reiter, and R. Scherl. Fondements d'une Approche Logique à la Programmation d'Agents. Actes des Troisièmes Journées Francophones sur l'Intelligence Artificielle Distribuée et les Systèmes Multi-Agents, pp. 3-14, Chambéry-St-Badolph, France, March, 1995.
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http://www.cs.toronto.edu/~cogrobo/indexmodal.ps.Z
Y. Lespérance and H.J. Levesque. Indexical Knowledge and Robot Action -- A Logical Account. Artificial Intelligence, 73 , 69-115, 1995.
Indexical knowledge and robot action---a logical account.
Artificial Intelligence Journal, vol. 73 (1995), pp. 69-115.
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http://www.cs.toronto.edu/~cogrobo/causality.ps.Z
F. Lin. Embracing causality in specifying the indirect effects of actions. In Proc. IJCAI-95.
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http://www.cs.toronto.edu/~cogrobo/progress2.ps.Z
F. Lin and R. Reiter. How to progress a database II: The STRIPS connection. In Proc. IJCAI'95.
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http://www.cs.toronto.edu/~cogrobo/pcta.ps.Z
F. Lin and Y. Shoham. Provably correct theories of action. Journal of ACM 42(2):293-320, 1995. Extended abstracts appeared in AAAI-91 under the same title, and in AAAI-92 under the title "concurrent actions in the situation calculus".
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http://www.cs.toronto.edu/~cogrobo/distribagents.ps.Z
D. Marcu, Y. Lespérance, H. Levesque, F. Lin, R. Reiter, and R. Scherl. Distributed Software Agents and Communication in the Situation Calculus. In Proc. Intelligent Computer Communication (ICC'95) Conference , Cluj-Napoca, Romania, June, 1995.
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http://www.cs.toronto.edu/~cogrobo/minker.ps.Z
J. Pinto and R. Reiter. Reasoning about time in the situation calculus. Annals of Mathematics and Artificial Intelligence , Vol. 14(2-4), Sept 1995, pp. 251-268.
Reasoning about Time in the Situation Calculus.
Annals of Mathematics and Artificial Intelligence, vol. 14 (1995), pp. 251-268.
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http://www.cs.toronto.edu/~cogrobo/updates.ps.Z
R. Reiter. On specifying database updates. Journal of Logic Programming , Vol 25(1), Oct 95, pp. 53-91..
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http://www.cs.toronto.edu/~cogrobo/bisfai95.ps.Z
R. Scherl, H. Levesque, and Y. Lespérance. The Situation Calculus with Sensing and Indexical Knowledge, in Moshe Koppel and Eli Shamir, editors, Proceedings of BISFAI'95: The Fourth Bar-Ilan Symposium on Foundations of Artificial Intelligence , pp. 86-95, Ramat Gan and Jerusalem, Israel, June, 1995.
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http://www.cs.toronto.edu/~cogrobo/AAAIfall95.ps.Z
S. Shapiro, Y. Lespérance, and H. Levesque. Goals and Rational Action in the Situation Calculus --- A Preliminary Report. In Working Notes of the AAAI Fall Symposium on Rational Agency: Concepts, Theories, Models, and Applications , Cambridge, MA, November, 1995.
1994
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http://www.cs.toronto.edu/~cogrobo/robotprog.ps.Z
Y. Lespérance, H. Levesque, F. Lin, D. Marcu, R. Reiter, and R. Scherl. A Logical Approach to High-Level Robot Programming -- A Progress Report. In Benjamin Kuipers, editor, Control of the Physical World by Intelligent Systems, Papers from the 1994 AAAI Fall Symposium, pages 79-85, New Orleans, LA, November, 1994.
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http://www.cs.toronto.edu/~cogrobo/indextempo.ps.Z
Y. Lespérance and H.J. Levesque. An Argument for Indexical Representations in Temporal Reasoning. In Renee Elio, editor, Proceedings of the Tenth Biennial Conference of the Canadian Society for Computational Studies of Intelligence, pp. 271-277, Banff, Canada, May, 1994.
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http://www.cs.toronto.edu/~cogrobo/forgetting.ps.Z
F. Lin and R. Reiter. Forget It! Presented at the AAAI Fall Symposium on Relevance, New Orleans, Nov. 1994
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http://www.cs.toronto.edu/~cogrobo/progress1.ps.Z
F. Lin and R. Reiter. How to progress a database (and why) I: Formal foundations. In Proc. Fourth Int. Conf. on Principles of Knowledge Representation and Reasoning.
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http://www.cs.toronto.edu/~cogrobo/constraint.ps.Z
F. Lin and R. Reiter. State Constraints Revisited. Journal of Logic and Computation, 4(5):655-678, Special Issue on Action and Processes, 1994.
State Constraints Revisited.
Journal of Logic and Computation, vol. 4 (1994), pp. 655-678.
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http://www.cs.toronto.edu/~cogrobo/jpThesis.ps.Z
J. Pinto. Temporal Reasoning in the Situation Calculus. Ph.D. Thesis, Dept. of Computer Science, Univ. of Toronto, Jan. 1994.
1993
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http://www.cs.toronto.edu/~cogrobo/temporal.ps.Z
J. Pinto and R. Reiter. Temporal Reasoning in Logic Programming: A Case for the Situation Calculus. Proc. 10th Int. Conf. on Logic Programming, Budapest, Hungary, June 21-24, 1993.
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http://www.cs.toronto.edu/~cogrobo/induction.ps.Z
R. Reiter. Proving properties of states in the situation calculus. Artificial Intelligence, 64 , Dec. 1993, pp. 337-351.
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http://www.cs.toronto.edu/~cogrobo/indexcomm.ps.Z
Y. Lespérance. An Approach to Modeling Indexicality in Action and Communication. In Reasoning about Mental States: Formal Theories and Applications, Papers from the 1993 AAAI Spring Symposium, March 1993, Stanford, CA, pp. 79--85, Technical Report, AAAI Press, Menlo Park, CA; also appears in the Proceedings of the IJCAI Workshop on Using Knowledge in its Context, Chambery, France, August 1993.
1992
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http://www.cs.toronto.edu/~cogrobo/planconf.ps.Z
R. Reiter. The projection problem in the situation calculus: a soundness and completeness result, with an application to database updates. Proc. First Int. Conference on AI Planning Systems, College Park, Maryland, June 15-17, 1992, pp. 198-203.
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http://www.cs.toronto.edu/~cogrobo/fgcs.ps.Z
R. Reiter. Formalizing database evolution in the situation calculus. Proc. Int. Conf. on Fifth Generation Computer Systems, June 1-5, 1992, Tokyo, Japan, pp. 600-609. Invited paper.
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http://www.cs.toronto.edu/~cogrobo/edbt.ps.Z
R. Reiter. In formalizing database updates: preliminary report. Proc. 3rd Int. Conf. on Extending Database Technology, Vienna, Austria, March 23-27, 1992, pp. 10-20. Invited paper.
1991
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http://www.cs.toronto.edu/~cogrobo/simple.ps.Z
R. Reiter. The frame problem in the situation calculus: A simple solution (sometimes) and a completeness result for goal regression. Artificial Intelligence and Mathematical Theory of Computation: Papers in Honor of John McCarthy, Vladimir Lifschitz (ed.), Academic Press, San Diego, CA, 1991, pp.359-380.
Unpublished Manuscripts
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http://www.cs.toronto.edu/~cogrobo/abilityInSC.ps.Z
Y. Lespérance, H. Levesque, F. Lin, and R. Scherl. Ability and Knowing How in the Situation Calculus. Unpublished manuscript.
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http://www.cs.toronto.edu/~cogrobo/ability-slides.ps.Z
H. Levesque. Knowledge, action and ability in the situation calculus. Overheads from invited talk at TARK 1994.
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http://www.cs.toronto.edu/~cogrobo/orderijcai.ps.Z
F. Lin. An ordering on goals - Formalizing control information in the situation calculus. Being reivised.
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http://www.cs.toronto.edu/~cogrobo/cut.ps.Z
F. Lin. A semantics for cut in the situation calculus. Draft.
CS2532 Class Material
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http://www.cs.toronto.edu/~cogrobo/CS2532
A Concurrent, Temporal GOLOG Interpreter in ECLIPSE Prolog, the coffee delivery robot, the program for two balls bouncing between two walls, wspbf(n), wspdf(n). Dept. of Computer Science
University of Toronto
Toronto, ON, CANADA, M5S 1A4
(416)-978-8737
FAX: (416)-978-1455