Goal recognition is the problem of inferring the goal of an agent, based on its observed actions. An inspiring approach-plan recognition by planning (PRP)-uses off-the-shelf planners to dynamically generate plans for given goals, eliminating the need for the traditional plan library. However, existing PRP formulation is inherently inefficient in online recognition, and cannot be used with motion planners for continuous spaces. In this paper, we utilize a different PRP formulation which allows for online goal recognition, and for application in continuous spaces. We present an online recognition algorithm, where two heuristic decision points may be used to improve run-time significantly over existing work. We specify heuristics for continuous domains, prove guarantees on their use, and empirically evaluate the algorithm over n hundreds of experiments in both a 3D navigational environment and a cooperative robotic team task.

Since its emergence in the 1960s, Artificial Intelligence (AI) has grown to conquer many technology products and their fields of application. Machine learning, as a major part of the current AI solutions, can learn from the data and through experience to reach high performance on various tasks. This growing success of AI algorithms has led to a need for interpretability to understand opaque models such as deep neural networks. Various requirements have been raised from different domains, together with numerous tools to debug, justify outcomes, and establish the safety, fairness and reliability of the models. This variety of tasks has led to inconsistencies in the terminology with, for instance, terms such as interpretable, explainable and transparent being often used interchangeably in methodology papers. These words, however, convey different meanings and are “weighted" differently across domains, for example in the technical and social sciences. In this paper, we propose an overarching terminology of interpretability of AI systems that can be referred to by the technical developers as much as by the social sciences community to pursue clarity and efficiency in the definition of regulations for ethical and reliable AI development. We show how our taxonomy and definition of interpretable AI differ from the ones in previous research and how they apply with high versatility to several domains and use cases, proposing a—highly needed—standard for the communication among interdisciplinary areas of AI.

This article explores views about older people and aging underpinning practices and perceptions of development and implementation of Artificial Intelligence (AI) in long-term care homes (LTC). Drawing on semi-structured interviews with seven AI developers, seven LTC staff, and four LTC advocates, we analyzed how AI technologies for later life are imagined, designed, deployed, and resisted. Using the concepts of “promissory discourse” and “aging anxieties”, we investigated manifestations of ageism in accounts of AI applications in LTC. Despite positive intentions, both AI developers and LTC staff/advocates engaged in simplistic scripts about aging, care, and the technological capacity of older people. We further uncovered what we termed sociotechnical ageism—a form that is not merely digital but rests on interacting pre-conceptions about the inability or lack of interest of older people to use emerging technologies coupled with social assumptions about aging, LTC, and technological innovation.

This paper revisits probabilistic, model-based goal recognition to study the implications of the use of nominal models to estimate the posterior probability distribution over a finite set of hypothetical goals. Existing model-based approaches rely on expert knowledge to produce symbolic descriptions of the dynamic constraints domain objects are subject to, and these are assumed to produce correct predictions. We abandon this assumption to consider the use of nominal models that are learnt from observations on transitions of systems with unknown dynamics. Leveraging existing work on the acquisition of domain models via learning for Hybrid Planning we adapt and evaluate existing goal recognition approaches to analyze how prediction errors, inherent to system dynamics identification and model learning techniques have an impact over recognition error rates.

Plan recognition is the task of inferring the plan of an agent, based on an incomplete sequence of its observed actions. Previous formulations of plan recognition commit early to discretizations of the environment and the observed agent's actions. This leads to reduced recognition accuracy. To address this, we first provide a formalization of recognition problems which admits continuous environments, as well as discrete domains. We then show that through mirroring---generalizing plan-recognition by planning---we can apply continuous-world motion planners in plan recognition. We provide formal arguments for the usefulness of mirroring, and empirically evaluate mirroring in more than a thousand recognition problems in three continuous domains and six classical planning domains.