We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human team's planning conversation. Our approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans. This hybrid approach enables us to overcome the challenge of performing inference over the large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentation and show we are able to infer a human team's final plan with 83 accuracy on average. We also describe a robot demonstration in which two people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work that integrates a logical planning technique within a generative model to perform plan inference.
 The past few years have witnessed an significant interest in probabilistic logic learning, i.e. in research lying at the intersection of probabilistic reasoning, logical representations, and machine learning. A rich variety of different formalisms and learning techniques have been developed. This paper provides an introductory survey and overview of the state-of-the-art in probabilistic logic learning through the identification of a number of important probabilistic, logical and learning concepts. We present the first unsupervised approach to the problem of learning a semantic parser, using Markov logic. Our USP system transforms dependency trees into quasi-logical forms, recursively induces lambda forms from these, and clusters them to abstract away syntactic variations of the same meaning. The MAP semantic parse of a sentence is obtained by recursively assigning its parts to lambda-form clusters and composing them. We evaluate our approach by using it to extract a knowledge base from biomedical abstracts and answer questions. USP substantially outperforms TextRunner, DIRT and an informed baseline on both precision and recall on this task.  Statistical Relational Learning (SRL) is a subarea of machine learning which combines elements from statistical and probabilistic modeling with languages which support structured data representations. In this survey, we will: 1) provide an introduction to SRL, 2) describe some of the distinguishing characteristics of SRL systems, including relational feature construction and collective classification, 3) describe three SRL systems in detail, 4) discuss applications of SRL techniques to important data management problems such as entity resolution, selectivity estimation, and information integration, and 5) discuss connections between SRL methods and existing database research such as probabilistic databases. We propose a simple approach to combining first-order logic and probabilistic graphical models in a single representation. A Markov logic network (MLN) is a first-order knowledge base with a weight attached to each formula (or clause). Together with a set of constants representing objects in the domain, it specifies a ground Markov network containing one feature for each possible grounding of a first-order formula in the KB, with the corresponding weight. Inference in MLNs is performed by MCMC over the minimal subset of the ground network required for answering the query. Weights are efficiently learned from relational databases by iteratively optimizing a pseudo-likelihood measure. Optionally, additional clauses are learned using inductive logic programming techniques. Experiments with a real-world database and knowledge base in a university domain illustrate the promise of this approach.