Vasanth Sarathy

Shivam Goel, Yash Shukla, Vasanth Sarathy et al.

We propose RAPid-Learn: Learning to Recover and Plan Again, a hybrid planning and learning method, to tackle the problem of adapting to sudden and unexpected changes in an agent's environment (i.e., novelties). RAPid-Learn is designed to formulate and solve modifications to a task's Markov Decision Process (MDPs) on-the-fly and is capable of exploiting domain knowledge to learn any new dynamics caused by the environmental changes. It is capable of exploiting the domain knowledge to learn action executors which can be further used to resolve execution impasses, leading to a successful plan execution. This novelty information is reflected in its updated domain model. We demonstrate its efficacy by introducing a wide variety of novelties in a gridworld environment inspired by Minecraft, and compare our algorithm with transfer learning baselines from the literature. Our method is (1) effective even in the presence of multiple novelties, (2) more sample efficient than transfer learning RL baselines, and (3) robust to incomplete model information, as opposed to pure symbolic planning approaches.

Yash Shukla, Wenchang Gao, Vasanth Sarathy et al.

Recent advancements in reasoning abilities of Large Language Models (LLM) has promoted their usage in problems that require high-level planning for robots and artificial agents. However, current techniques that utilize LLMs for such planning tasks make certain key assumptions such as, access to datasets that permit finetuning, meticulously engineered prompts that only provide relevant and essential information to the LLM, and most importantly, a deterministic approach to allow execution of the LLM responses either in the form of existing policies or plan operators. In this work, we propose LgTS (LLM-guided Teacher-Student learning), a novel approach that explores the planning abilities of LLMs to provide a graphical representation of the sub-goals to a reinforcement learning (RL) agent that does not have access to the transition dynamics of the environment. The RL agent uses Teacher-Student learning algorithm to learn a set of successful policies for reaching the goal state from the start state while simultaneously minimizing the number of environmental interactions. Unlike previous methods that utilize LLMs, our approach does not assume access to a propreitary or a fine-tuned LLM, nor does it require pre-trained policies that achieve the sub-goals proposed by the LLM. Through experiments on a gridworld based DoorKey domain and a search-and-rescue inspired domain, we show that generating a graphical structure of sub-goals helps in learning policies for the LLM proposed sub-goals and the Teacher-Student learning algorithm minimizes the number of environment interactions when the transition dynamics are unknown.

Kaveh Eskandari Miandoab, Katharine Kowalyshyn, Kabir Pamnani et al.

We present IntelliProof, an interactive system for analyzing argumentative essays through LLMs. IntelliProof structures an essay as an argumentation graph, where claims are represented as nodes, supporting evidence is attached as node properties, and edges encode supporting or attacking relations. Unlike existing automated essay scoring systems, IntelliProof emphasizes the user experience: each relation is initially classified and scored by an LLM, then visualized for enhanced understanding. The system provides justifications for classifications and produces quantitative measures for essay coherence. It enables rapid exploration of argumentative quality while retaining human oversight. In addition, IntelliProof provides a set of tools for a better understanding of an argumentative essay and its corresponding graph in natural language, bridging the gap between the structural semantics of argumentative essays and the user's understanding of a given text.

Muhammad Umair, Vasanth Sarathy, JP de Ruiter

Turn-taking is a fundamental mechanism in human communication that ensures smooth and coherent verbal interactions. Recent advances in Large Language Models (LLMs) have motivated their use in improving the turn-taking capabilities of Spoken Dialogue Systems (SDS), such as their ability to respond at appropriate times. However, existing models often struggle to predict opportunities for speaking -- called Transition Relevance Places (TRPs) -- in natural, unscripted conversations, focusing only on turn-final TRPs and not within-turn TRPs. To address these limitations, we introduce a novel dataset of participant-labeled within-turn TRPs and use it to evaluate the performance of state-of-the-art LLMs in predicting opportunities for speaking. Our experiments reveal the current limitations of LLMs in modeling unscripted spoken interactions, highlighting areas for improvement and paving the way for more naturalistic dialogue systems.

Kaveh Eskandari Miandoab, Vasanth Sarathy

Large Language Models (LLMs), despite achieving state-of-the-art results in a number of evaluation tasks, struggle to maintain their performance when logical reasoning is strictly required to correctly infer a prediction. In this work, we propose Argument Generation as a method of forcing models to utilize their reasoning capabilities when other approaches such as chain-of-thought reasoning prove insufficient. Our method involves the generation of arguments for each possible inference result, and asking the end model to rank the generated arguments. We show that Argument Generation can serve as an appropriate substitute for zero-shot prompting techniques without the requirement to add layers of complexity. Furthermore, we argue that knowledge-probing techniques such as chain-of-thought reasoning and Argument Generation are only useful when further reasoning is required to infer a prediction, making them auxiliary to more common zero-shot approaches. Finally, we demonstrate that our approach forces larger gains in smaller language models, showcasing a complex relationship between model size and prompting methods in foundation models.

Howard Goldowsky, Vasanth Sarathy

We propose an approach to analogical inference that marries the neuro-symbolic computational power of complex-sampled hyperdimensional computing (HDC) with Conceptual Spaces Theory (CST), a promising theory of semantic meaning. CST sketches, at an abstract level, approaches to analogical inference that go beyond the standard predicate-based structure mapping theories. But it does not describe how such an approach can be operationalized. We propose a concrete HDC-based architecture that computes several types of analogy classified by CST. We present preliminary proof-of-concept experimental results within a toy domain and describe how it can perform category-based and property-based analogical reasoning.

Scott Friedman, Ian Magnusson, Vasanth Sarathy et al.

Qualitative causal relationships compactly express the direction, dependency, temporal constraints, and monotonicity constraints of discrete or continuous interactions in the world. In everyday or academic language, we may express interactions between quantities (e.g., sleep decreases stress), between discrete events or entities (e.g., a protein inhibits another protein's transcription), or between intentional or functional factors (e.g., hospital patients pray to relieve their pain). Extracting and representing these diverse causal relations are critical for cognitive systems that operate in domains spanning from scientific discovery to social science. This paper presents a transformer-based NLP architecture that jointly extracts knowledge graphs including (1) variables or factors described in language, (2) qualitative causal relationships over these variables, (3) qualifiers and magnitudes that constrain these causal relationships, and (4) word senses to localize each extracted node within a large ontology. We do not claim that our transformer-based architecture is itself a cognitive system; however, we provide evidence of its accurate knowledge graph extraction in real-world domains and the practicality of its resulting knowledge graphs for cognitive systems that perform graph-based reasoning. We demonstrate this approach and include promising results in two use cases, processing textual inputs from academic publications, news articles, and social media.

Vasanth Sarathy, Daniel Kasenberg, Shivam Goel et al.

Symbolic planning models allow decision-making agents to sequence actions in arbitrary ways to achieve a variety of goals in dynamic domains. However, they are typically handcrafted and tend to require precise formulations that are not robust to human error. Reinforcement learning (RL) approaches do not require such models, and instead learn domain dynamics by exploring the environment and collecting rewards. However, RL approaches tend to require millions of episodes of experience and often learn policies that are not easily transferable to other tasks. In this paper, we address one aspect of the open problem of integrating these approaches: how can decision-making agents resolve discrepancies in their symbolic planning models while attempting to accomplish goals? We propose an integrated framework named SPOTTER that uses RL to augment and support ("spot") a planning agent by discovering new operators needed by the agent to accomplish goals that are initially unreachable for the agent. SPOTTER outperforms pure-RL approaches while also discovering transferable symbolic knowledge and does not require supervision, successful plan traces or any a priori knowledge about the missing planning operator.

Vasanth Sarathy, Thomas Arnold, Matthias Scheutz

HRI researchers have made major strides in developing robotic architectures that are capable of reading a limited set of social cues and producing behaviors that enhance their likeability and feeling of comfort amongst humans. However, the cues in these models are fairly direct and the interactions largely dyadic. To capture the normative qualities of interaction more robustly, we propose consent as a distinct, critical area for HRI research. Convening important insights in existing HRI work around topics like touch, proxemics, gaze, and moral norms, the notion of consent reveals key expectations that can shape how a robot acts in social space. By sorting various kinds of consent through social and legal doctrine, we delineate empirical and technical questions to meet consent challenges faced in major application domains and robotic roles. Attention to consent could show, for example, how extraordinary, norm-violating actions can be justified by agents and accepted by those around them. We argue that operationalizing ideas from legal scholarship can better guide how robotic systems might cultivate and sustain proper forms of consent.

Daniel Kasenberg, Vasanth Sarathy, Thomas Arnold et al.

In this paper we describe moral quasi-dilemmas (MQDs): situations similar to moral dilemmas, but in which an agent is unsure whether exploring the plan space or the world may reveal a course of action that satisfies all moral requirements. We argue that artificial moral agents (AMAs) should be built to handle MQDs (in particular, by exploring the plan space rather than immediately accepting the inevitability of the moral dilemma), and that MQDs may be useful for evaluating AMA architectures.

Vasanth Sarathy, Matthias Scheutz

Current measures of machine intelligence are either difficult to evaluate or lack the ability to test a robot's problem-solving capacity in open worlds. We propose a novel evaluation framework based on the formal notion of MacGyver Test which provides a practical way for assessing the resilience and resourcefulness of artificial agents.

Vasanth Sarathy, Jason R. Wilson, Thomas Arnold et al.

Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing emotional and physical harm. This type of norm-based processing is also critical for robots in many human-robot interaction scenarios (e.g., when helping elderly and disabled persons in assisted living facilities, or assisting humans in assembly tasks in factories or even the space station). In this position paper, we will briefly describe how several components in an integrated cognitive architecture can be used to implement processes that are required for normative human-robot interactions, especially in collaborative tasks where actions and situations could potentially be perceived as threatening and thus need a change in course of action to mitigate the perceived threats.