UIUC CS 498, Section EA
Introduction to Knowledge Representation and Reasoning
Autumn 2004
Tentative Course Syllabus
Approximate Schedule

Session Date Topic Readings Sample Application
Reading		 Assignment
1
Aug 26
Knowledge Representation and Reasoning Mobile Robotics:
[Amir & Maynard-Reid '99] 		Homework #0 out
2
Aug 31
Propositional logic: DPLL & Resolution Formal Verification:
[McFarland '93] [Barrett '03] 		 
3
Sep 2
Prime implicates/implicants and consequence finding TBA Homework #0 due
4
Sep 7
Binary Decision Diagrams TBA Homework #1 out
5
Sep 9
First-Order Logic Temporal reasoning:
[Russell & Norvig '03], ch. 10 		 
6
Sep 14
Resolution in First-Order Logic Temporal reasoning:
[Russell & Norvig '03], ch. 10 		Homework #1 due
7
Sep 16
Resolution strategies TBA  
8
Sep 21
Resolution with equality TBA  
9
Sep 23
Partitioning and Treewidth-based methods Spatial reasoning:
[MacCartney etal. '03]
Planning:
[Amir & Engelhardt '03] 		Homework #2 out
10
Sep 28
Probabilistic Graphical Models Sensor Networks:
[Crick & Pfeffer '03] 		 
11
Sep 30
Probabilistic inference Sensor Networks:
[Crick & Pfeffer '03] 		Homework #2 due
12
Oct 5
Exact and Approximate Inference Vision:
[Tu & Zhu '02]
Medical Diagnosis:
[Wei & Altman '97] Molecular Biology:
[Segal etal. '03] 		 
13
Oct 7
Sampling & Monte Carlo Methods Vision:
[Tu & Zhu '02] 		 
14
Oct 12
BN Inference: hybrid networks, local structure Vision:
[Tu & Zhu '02]
Medical Diagnosis:
[Wei & Altman '97] Molecular Biology:
[Segal etal. '03] 		Homework #3 out
15
Oct 14
Representation of Time: Situation Calculus Temporal reasoning  
16
Oct 19
Representation of Time: Event Calculus and Action Languages Temporal reasoning Homework #3 due
17
Oct 21
Situation Calculus: continuous time, ramifications, concurrent events, nondeterministic effects Temporal reasoning  
18
Oct 26
Decision making with situation calculus Temporal reasoning Homework #4 out
19
Oct 28
Dynamic Bayesian Networks
[Russell & Norvig '03], ch. 15 or [Jordan '04] ch. 20 (available next to my office door (Siebel 3314)), slides lec. 9 (based on AIMA2e slides on DBNs from Stuart Russell),
Speech recognition:
[Rabiner '89] 		 
20
Nov 2
Approximate inference in DBNs Sensor Networks: [Coates '04]
Mobile Robots: [Fox etal '01]
SLAM:
[Paskin '03] 		Homework #4 due
21
Nov 4
Logical filtering Adventure games:
TBA 		Homework #5 out
22
Nov 9
Logical Representation of Space: RCC8 and others Spatial reasoning  
23
Nov 11
Probabilistic Representation of Shape Spatial reasoning Homework #5 due
24
Nov 16
Shape and Time Spatial reasoning Homework #6 out
25
Nov 18
Restricted language: frame systems Medical informatics: [OpenGalen '03] NLP/NLG and Adventure Games:
[Gadsil, Koller, & Striegnitz '01]
Semantic Web: [Horrocks '02] 		 
26
Nov 23
Restricted language: description logics Medical informatics: [OpenGalen '03] NLP/NLG and Adventure Games:
[Gadsil, Koller, & Striegnitz '01]
Semantic Web: [Horrocks '02] 		Homework #6 due
27
Nov 25
First-order probabilistic models Citation matching:
[Pasula & Russell '01], [Pasula etal. '02] 		 
28
Nov 30
(a) Resolution with probabilistic relational models (b) probabilistic equational reasoning TBA Homework #7 out
29
Dec 2
Modal Logics: Knowledge and Belief Adventure Games  
30
Dec 7
Sensing and Knowledge
Posters session (5pm-7pm)
 
Biology: [Xing etal '03]
information retrieval: [Blai etal '02] 		Homework #7 due
Final project submission
31
Dec 14 (tentative)
 
 
  Final Exam

Possible Projects

Number Topic Presenter
1
extension of lock resolution using craig's interpolation theorem  
2
hybrid reasoning of logic and probabilities via partitioning (requires knowledge of FOPL, at least Halpern's work)  
3
logical filtering with a first-order language  
4
logical filtering with BDDs  
5
activity detection using filtering (any method)  
6
SLAM2.0 improved and applied to a mobile robot  
7
Combining logical filtering and stochastic filtering  
8
Survey propagation for dynamic settings (e.g., planning via SAT)  
9
Approximation algorithm for hyper-treewidth  
10
Implementation of an algorithm for planar treewidth  
11
Filtering in an adventure/strategy game  
12
Labeling image segments with words (using a probabilistic graphical model)  
13
Implementation of Message-Passing as a restriction strategy for reasoning in FOL  
14
Complete ``holes'' in Poole's paper on resolution in first-order probabilistic models  
15
Equational reasoning in first-order probabilistic models  
16
First-Order DPLL with equality  
17
LSA-like robot control architecture with probabilities  
18
Learning action models via filtering  
19
MCMC for image segmentation  
20
Robot localization for a basketball game  
21
LSA-based control system for a robotic arm  

Bibliography
Key Authors
Title
[McCarthy '58] John McCarthy
Programs with Common Sense
[Amir & Maynard-Reid '99] Eyal Amir and Pedrito Maynard-Reid II
Logic-Based Subsumption Architecture
[Russell & Norvig '03] Stuart Russell and Peter Norvig
Artificial Intelligence, a Modern Approach
[Genesereth & Nilsson '87] Michael R. Genesereth and Nils J. Nilsson
Logical Foundations for Artificial Intelligence
[McFarland '93] Michael C. McFarland
Formal verification of sequential hardware: a tutorial
[Biere etal. '99] A. Biere, A. Cimatti, E.M. Clarke, M. Fujita, Y. Zhu
Symbolic model checking using SAT procedures instead of BDDs
[Barrett '03] Clark Barrett
Logic in Computer Science, NYU, Fall 2003
[OpenGalen '03] OpenGALEN, by Kermanog
GALEN common reference model, version 1.02, and software
[Baader & Nutt '03] Franz Baader & Werner Nutt
Basic Description Logics, Ch.2 in the Description Logic Handbook
[Franconi '03] Enrico Franconi
Natural Language Processing, Ch.15 in the Description Logic Handbook
[Gadsil, Koller, & Striegnitz '01] M. Gabsdil, A. Koller, and K. Striegnitz
Building a Text Adventure on Description Logic
[Horrocks '02] Ian Horrocks
DAML+OIL: a Description Logic for the Semantic Web
[Amir & McIlraith '03] Eyal Amir and Sheila McIlraith
Partition-Based Reasoning for First-Order and Propositional Theories
[MacCartney etal. '03] B. MacCartney, S. McIlraith, E. Amir, & T. Uribe
Practical Partition-Based Theorem Proving for Large Knowledge Bases
[Amir & Engelhardt '03] Eyal Amir and Barbara Engelhardt
Factored Planning
[Rish & Dechter '00] Irina Rish and Rina Dechter
Resolution versus Search: Two Strategies for SAT
[Doucet etal '00] Arnaud Doucet, Nando de Freitas, Kevin Murphy, Stuart Russell
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks, Tutorial, and slides
[Doucet etal '00b] Arnaud Doucet, Simon Godsill, and Christophe Andrieu
On sequential Monte-Carlo sampling methods for Bayesian filtering
[Coates '04] Mark Coates
Distributed particle filters for sensor networks
[Fox etal '01] Dieter Fox, Sebastian Thrun, Wolfram Burgard, Frank Dellaert
Particle Filters for Mobile Robot Localization
[Moskewicz etal '01] M. W. Moskewicz, C. F. Madigan, Y. Zhao, L. Zhang, and S. Malik
Chaff: engineering an efficient SAT solver
[Ginsberg and McAllester '94] M. Ginsberg and D. McAllester
GSAT and Dynamic Backtracking
[Selman, Mitchell, and Levesque '97] B. Selman, D. Mitchell, and H. Levesque
Generating hard satisfiability problems
[MacKay '98] David MacKay
Introduction to Monte Carlo methods
[Crick & Pfeffer '03] Christopher Crick and Avi Pfeffer
Loopy belief propagation as a basis for communication in sensor networks
[Yedidia etal. '03] J.S. Yedidia, W.T. Freeman and Y. Weiss
Bethe free energy, Kikuchi approximations and belief propagation algorithms
[McEliece, MacKay & Cheng '98] R.J. McEliece, D. J. C. MacKay, and J. F. Cheng
Turbo decoding as an instance of Pearl's `belief propagation
[Poole '03] David Poole
First-order probabilistic inference
[Braunstein etal '03] A. Braunstein, M. Mezard, R. Zecchina
Survey propagation: an algorithm for satisfiability
[Amir & Russell '03] E. Amir and S. Russell
Logical Filtering
[Jaakola '00] T. Jaakola
Tutorial on variational approximation methods (slides)
[El-Hay & Friedman '01] T. El-Hay and N. Friedman
Incorporating Expressive Graphical Models in Variational Approximations: Chain-Graphs and Hidden Variables
[Tu & Zhu '02] Zhuowen Tu and Song-Chun Zhu
Image Segmentation by Data-Driven Markov Chain Monte Carlo
[Wei & Altman '97] L. Wei and R. B. Altman
An Automated System for Generating Comparative Disease Profiles and Making Diagnoses
[Segal etal. '03] E. Segal and R. Yelensky and D. Koller
Genome-wide Discovery of Transcriptional Modules from DNA Sequence and Gene Expression
[Baumgartner '00] Peter Baumgartner
FDPLL - A First-Order Davis-Putnam-Logeman-Loveland Procedure
[Khan etal. '03] Z. Khan, T. Balch, and F. Dellaert
An MCMC-based Particle Filter for Tracking Multiple Interacting Targets
[Marthi etal. '03] B. Marthi, H. Pasula, and S. Russell
Decayed MCMC Filtering
[Pfeffer '00] A. Pfeffer
Probabilistic Reasoning for Complex Systems
[Pasula & Russell '00] H. Pasula and S. Russell
Approximate Inference For First-Order Probabilistic Languages
[Pasula etal. '02] H. Pasula, B. Marthi, B. Milch, S. Russell, I. Shpitser
Identity Uncertainty and Citation Matching
[del Val '99] A. del Val
A New Method for Consequence Finding and Compilation for Restricted Languages
[de Kleer '92] J. de Kleer
An Improved Incremental Algorithm for Generating Prime Implicates
[Slagle etal. '70] J.R. Slagle, C.-L. Chang and R. Lee
A new algorithm for generating prime implicants
[Groote & Zantema '00] J.F. Groote and H. Zantema
Resolution and binary decision diagrams cannot simulate each other polynomially
[Groote & Tveretina '03] J.F. Groote and O. Tveretina
Binary decision diagrams for first-order predicate logic
[Sanghai, Domingo, & Weld '03] S. Sanghai, P. Domingo, and D. Weld
Dynamic Probabilistic Relational Models
[Rabiner '89] L.R. Rabiner
A tutorial on hidden Markov models and selected applications in speech recognition
[Lerner & Parr '01] U. Lerner and R. Parr
Inference in Hybrid Networks: Theoretical Limits and Practical Algorithms
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Comments to Eyal Amir