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1. Learning Interpretable Heuristics for WalkSAT

Author

Interian, Yannet and Bernardini, Sara

Subjects
Computer Science - Artificial Intelligence
Abstract

Local search algorithms are well-known methods for solving large, hard instances of the satisfiability problem (SAT). The performance of these algorithms crucially depends on heuristics for setting noise parameters and scoring variables. The optimal setting for these heuristics varies for different instance distributions. In this paper, we present an approach for learning effective variable scoring functions and noise parameters by using reinforcement learning. We consider satisfiability problems from different instance distributions and learn specialized heuristics for each of them. Our experimental results show improvements with respect to both a WalkSAT baseline and another local search learned heuristic.

Published
2023

3. Extracting Lifted Mutual Exclusion Invariants from Temporal Planning Domains

Author

Bernardini, Sara, Fagnani, Fabio, and Smith, David E.

Subjects
Computer Science - Artificial Intelligence
Abstract

We present a technique for automatically extracting mutual exclusion invariants from temporal planning instances. It first identifies a set of invariant templates by inspecting the lifted representation of the domain and then checks these templates against properties that assure invariance. Our technique builds on other approaches to invariant synthesis presented in the literature, but departs from their limited focus on instantaneous actions by addressing temporal domains. To deal with time, we formulate invariance conditions that account for the entire structure of the actions and the possible concurrent interactions between them. As a result, we construct a significantly more comprehensive technique than previous methods, which is able to find not only invariants for temporal domains, but also a broader set of invariants for non-temporal domains. The experimental results reported in this paper provide evidence that identifying a broader set of invariants results in the generation of fewer multi-valued state variables with larger domains. We show that, in turn, this reduction in the number of variables reflects positively on the performance of a number of temporal planners that use a variable/value representation by significantly reducing their running time.

Published
2017

6. Grandir dans une communauté de l’âge du cuivre en Italie : le rôle des enfants dans la vie quotidienne

Author

Bernardini, Sara, Goude, Gwenaëlle, Sayle, Kerry L., Gauthier, Caroline, Douville, Eric, Aranguren, Biancamaria, del Bove, Antonietta, Tafuri, Mary Anne, Laboratoire méditerranéen de préhistoire Europe-Afrique (LAMPEA), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), Scottish Universities Environmental Research Centre (SUERC), University of Glasgow-University of Edinburgh, Laboratoire des Sciences du Climat et de l'Environnement [Gif-sur-Yvette] (LSCE), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Soprintendenza Archeologica, Belle Arti e Paesaggio della Toscana, Firenze, Italy, Institut Català de Paleoecologia Humana i Evolució Social (IPHES), and Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA)

Subjects
Cultural Studies, Archeology, [SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, Anthropology, [SHS.ANTHRO-SE]Humanities and Social Sciences/Social Anthropology and ethnology, [SHS]Humanities and Social Sciences
Abstract

journées 2023 de la société d' anthropologie de Paris; International audience; The study of children’s role in past communities is difficult to face in archaeology. An active contribution of the children in everyday life varies within societies and cultures, as well as the social and biological definition of childhood. In Central Italy, specific funerary customs for subadults are documented in the Copper Age(4th-3rd millennia BCE) according to age classes. Here we propose to investigate childhood in an Italian Copper Age human group by a multi- isotope analysis (δ$^{13}$C, δ$^{15}$N,δ$^{34}$S and $^{87}$Sr/$^{86}$Sr) on dentine/enamel and bone of two adult individuals, from the funerary cave of Grotta Spinosa (Central Italy). The reconstruction of the dietary intake variation and of the displacements occurred during early-life was compared to the adult values and to those of the rest of the group analysed, as well as the few comparative data available from prehistoric Italy. The framework obtained from this multi-tissue and multi-isotope study helped to shed light on experiences previously only suggested by the archaeological and skeletal evidence (i.e. passage to adulthood, and children’s implication in community life). The interpretation of the isotopic data in the light of the archaeological and biological information available, from the cave and the region (Central Italy), allowed us to suggest an age interval (ca. 10-12 y.o.) in which the children were likely involved in the "adult’s" tasks. This exploratory study highlights the interest of geochemical tools applied on archaeological remains and the need to develop further high-resolution and multi-tissue sampling when investigating particular past population practices.

Published
2023
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7. A Longobard osteobiography. A multi-proxy life history of an elderly woman from Castel Trosino (Italy)

Author

Bernardini, Sara, Micarelli, Ileana, Zeppilli, Carlotta, Strani, Flavia, Bedecarrats, Samuel, Paine, Robert R., Bliquez, Lawrence, Gazzaniga, Valentina, Sayle, Kerry L., Goude, Gwenaëlle, Manzi, Giorgio, Tafuri, Mary Anne, Laboratoire méditerranéen de préhistoire Europe-Afrique (LAMPEA), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), McDonald Institute for Archaeological Research, University of Cambridge, Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA), Centre Michel de Boüard - Centre de recherches archéologiques et historiques anciennes et médiévales (CRAHAM), Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Normandie Université (NU)-Centre National de la Recherche Scientifique (CNRS), University of Washington [Seattle], Scottish Universities Environmental Research Centre (SUERC), and University of Glasgow-University of Edinburgh

Subjects
Cultural Studies, Archeology, [SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, Anthropology, [SDV.BBM.BC]Life Sciences [q-bio]/Biochemistry, Molecular Biology/Biochemistry [q-bio.BM], [SDV.MHEP]Life Sciences [q-bio]/Human health and pathology, [SHS]Humanities and Social Sciences
Abstract

The Longobard cemetery of Castel Trosino (Central Italy, c. 6th-8th CE) was excavated at the end of the 19th century, with more than two hundred burials recovered. Currently only 19 crania and a few mandibles are preserved. Among these crania, a case of trepanation is documented on an elderly woman (c. 50 y.o.): the medical treatment, or the condition that led to it, likely influenced her life history. A multidisciplinary investigation of the only available skeletal remains (cranial and denta...

Published
2023

11. Food security reduces multiple HIV infection risks for high‐vulnerability adolescent mothers and non‐mothers in South Africa: a cross‐sectional study

Author

Cluver, Lucie, primary, Rudgard, William E., additional, Toska, Elona, additional, Orkin, Mark, additional, Ibrahim, Mona, additional, Langwenya, Nontokozo, additional, Kuo, Caroline, additional, Xaba, Nonhlanhla, additional, Roehm, Kai, additional, Smith, Michael, additional, Bernardini, Sara, additional, Giordana, Giovanni, additional, Mumma, Manaan, additional, Kingori, James, additional, Yates, Rachel, additional, and Sherr, Lorraine, additional

Published
2022
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17. Modular Robots for Enabling Operations in Unstructured Extreme Environments

Author

Sayed, Mohammed E., primary, Roberts, Jamie O., additional, Donaldson, Karen, additional, Mahon, Stephen T., additional, Iqbal, Faiz, additional, Li, Boyang, additional, Franco Aixela, Santiago, additional, Mastorakis, Georgios, additional, Jonasson, Emil T., additional, Nemitz, Markus P., additional, Bernardini, Sara, additional, and Stokes, Adam A., additional

Published
2022
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19. A Multi-Robot Platform for the Autonomous Operation and Maintenance of Offshore Wind Farms

Author

Bernardini, Sara, Jovan, Ferdian, Jiang, Zhengyi, Moradi, Peiman, Richardson, Tom, Sadeghian, Rasoul, Sareh, Sina, Watson, Simon, and Weightman, Andrew

Abstract

With the increasing scale of offshore wind farm development, maintaining farms efficiently and safely becomes a necessity. The length of turbine downtime and the logistics for human technician transfer make up a significant proportion of the operation and maintenance (O&M) costs. To reduce such costs, future O&M infrastructures will increasingly rely on offshore autonomous robotic solutions that are capable of co-managing wind farms with human operators located onshore. In particular, unmanned aerial vehicles, autonomous surface vessels and crawling robots are expected to play important roles not only to bring down costs but also to significantly reduce the health and safety risks by assisting (or replacing) human operators in performing the most hazardous tasks. This paper portrays a visionary view in which heterogeneous robotic assets, underpinned by AI agent technology, coordinate their behavior to autonomously inspect, maintain and repair offshore wind farms over long periods of time and unstable weather conditions. They cooperate with onshore human operators, who supervise the mission at a distance, via the use of shared deliberation techniques. We highlight several challenging research directions in this context and offer ambitious ideas to tackle them as well as initial solutions.

Published
2020

21. Biography of an Age: reconstructing lifeways of Italian Copper Age groups by multi proxy biological, isotopic and archaeological analysis

Author

Bernardini, Sara, Bernardini, Sara, and Aix Marseille Université (AMU)

Subjects
Italian Copper Age, Prehistoric societies, Stable isotope analysis, Paleodietary reconstruction, [SHS.ARCHEO] Humanities and Social Sciences/Archaeology and Prehistory, [SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, [SHS.ANTHRO-BIO]Humanities and Social Sciences/Biological anthropology, ComputingMilieux_MISCELLANEOUS, [SHS.ANTHRO-BIO] Humanities and Social Sciences/Biological anthropology
Abstract

International audience

Published
2019

22. Finding Mutual Exclusion Invariants in Temporal Planning Domains

Author

Bernardini, Sara and Smith, David E

Subjects
Cybernetics, Artificial Intelligence And Robotics
Abstract

We present a technique for automatically extracting temporal mutual exclusion invariants from PDDL2.2 planning instances. We first identify a set of invariant candidates by inspecting the domain and then check these candidates against properties that assure invariance. If these properties are violated, we show that it is sometimes possible to refine a candidate by adding additional propositions and turn it into a real invariant. Our technique builds on other approaches to invariant synthesis presented in the literature, but departs from their limited focus on instantaneous discrete actions by addressing temporal and numeric domains. To deal with time, we formulate invariance conditions that account for both the entire structure of the operators (including the conditions, rather than just the effects) and the possible interactions between operators. As a result, we construct a technique that is not only capable of identifying invariants for temporal domains, but is also able to find a broader set of invariants for non-temporal domains than the previous techniques.

Published
2011

23. Stable carbon and nitrogen isotopes analysis on italian prehistoric contexts: a complementary means to infer socio-cultural dynamics

Author

Bernardini, Sara, Goude, Gwenaëlle, Manzi, Giorgio, Tafuri, Mary Anne, Aix Marseille Université (AMU), Laboratoire méditerranéen de préhistoire Europe-Afrique (LAMPEA), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), Dipartimento di biologia ambientale, Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA), and Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome]

Subjects
[SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, [SHS.ANTHRO-BIO]Humanities and Social Sciences/Biological anthropology, ComputingMilieux_MISCELLANEOUS, [SHS]Humanities and Social Sciences
Abstract

International audience

Published
2020

24. Could protein intake reflect cultural differences? A case study from the Italian Copper Age of Rinaldone and Gaudo cultures

Author

Bernardini, Sara, Coppa, Alfredo, Moggi-Cecchi, Jacopo, Conati barbaro, Cecilia, Alhaique, Francesca, Tagliacozzo, Antonio, Tafuri, Mary Anne, Goude, Gwenaëlle, Aix Marseille Université (AMU), Dipartimento di Biologia Animale e dell'Uomo, Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome], Univ Florence, Dipartimento Biol, Florence, Italy, Servizio di Bioarcheologia, Museo delle Civiltà, Rome, Italy, Laboratoire méditerranéen de préhistoire Europe-Afrique (LAMPEA), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA), and Università degli Studi di Firenze = University of Florence (UniFI)

Subjects
[SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, [SHS.ANTHRO-BIO]Humanities and Social Sciences/Biological anthropology, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2020

25. Inferring social dynamics of Italian Copper Age communities by stable isotopes analyses: preliminary results from Central and Southern Italy

Author

Bernardini, Sara, Coppa, Alfredo, Moggi-Cecchi, Jacopo, Conati barbaro, Cecilia, Goude, Gwenaëlle, Tafuri, Mary Anne, Aix Marseille Université (AMU), Dipartimento di Biologia Animale e dell'Uomo, Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome], Univ Florence, Dipartimento Biol, Florence, Italy, Laboratoire méditerranéen de préhistoire Europe-Afrique (LAMPEA), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA), and Università degli Studi di Firenze = University of Florence (UniFI)

Subjects
Italian Copper Age, Prehistoric societies, Stable isotope analysis, Paleodietary reconstruction, [SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, [SHS.ANTHRO-BIO]Humanities and Social Sciences/Biological anthropology, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2019

26. 12th International Scheduling and Planning Applications Workshop (SPARK'19): Post-proceedings of SPARK 2019

Author

Bernardini, Sara, Parkinson, Simon, Talamadupula, Kartik, and Yorke-Smith, N.

Abstract

These working notes contain the papers presented at SPARK 2019: the 12th International Scheduling and Planning Applications woRKshop held on 11th July in Berkeley, California, USA. We are once more very pleased to continue the tradition of representing more applied aspects of the planning and scheduling community and to present a pipeline that will enable increased representation of applied papers in the main ICAPS conference. For the first time, SPARK 2019 used an open review process.

Published
2019

27. Eating a moment of sharing. The reconstruction of dietary habits through stable isotopes analyses to interpret the social issues of Italian Copper Age

Author

Bernardini, Sara, Coppa, Alfredo, Moggi-Cecchi, Jacopo, CONATI BARBARO, Cecilia, Goude, Gwenaëlle, Tafuri, MARY ANNE, Aix Marseille Université (AMU), Dipartimento di Biologia Animale e dell'Uomo, Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome], Univ Florence, Dipartimento Biol, Florence, Italy, Laboratoire méditerranéen de préhistoire Europe-Afrique (LAMPEA), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome] (UNIROMA), and Università degli Studi di Firenze = University of Florence (UniFI)

Subjects
[SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, [SHS.ANTHRO-BIO]Humanities and Social Sciences/Biological anthropology, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2019

28. Model-Unified Planning and Execution for Distributed Autonomous System Control

Author

Aschwanden, Pascal, Baskaran, Vijay, Bernardini, Sara, Fry, Chuck, Moreno, Maria, Muscettola, Nicola, Plaunt, Chris, Rijsman, David, and Tompkins, Paul

Subjects
Computer Systems
Abstract

The Intelligent Distributed Execution Architecture (IDEA) is a real-time architecture that exploits artificial intelligence planning as the core reasoning engine for interacting autonomous agents. Rather than enforcing separate deliberation and execution layers, IDEA unifies them under a single planning technology. Deliberative and reactive planners reason about and act according to a single representation of the past, present and future domain state. The domain state behaves the rules dictated by a declarative model of the subsystem to be controlled, internal processes of the IDEA controller, and interactions with other agents. We present IDEA concepts - modeling, the IDEA core architecture, the unification of deliberation and reaction under planning - and illustrate its use in a simple example. Finally, we present several real-world applications of IDEA, and compare IDEA to other high-level control approaches.

Published
2006

29. Blending human and artificial intelligence to support Autistic children’s social communication skills

Author

Porayska-Pomsta, Kaska, Alcorn, Alyssa M., Avramides, Katernia, Beale, Sandra, Bernardini, Sara, Foster, Mary Ellen, Frauenberger, Christopher, Good, Judith, Guldberg, Karen, Keay-Bright, Wendy, Kossyvaki, Lila, Lemon, Oliver, Mademtzi, Marilena, Menzies, Rachel, Pain, Helen, Rajendran, Gnanathusharan, Waller, Annalu, Wass, Sam, and Smith, Tim J.

Subjects
psyc
Abstract

This paper examines the educational efficacy of a learning environment in which children diagnosed with Autism Spectrum Conditions\ud (ASC) engage in social interactions with an artificially intelligent (AI) virtual agent and where a human practitioner acts in support of\ud the interactions. A multi-site intervention study in schools across the UK was conducted with 29 children with ASC and learning\ud difficulties, aged 4-14 years old. For reasons related to data completeness and amount of exposure to the AI environment, data for\ud 15 children was included in the analysis. The analysis revealed a significant increase in the proportion of social responses made by\ud ASC children to human practitioners. The number of initiations made to human practitioners and to the virtual agent by the ASC\ud children also increased numerically over the course of the sessions. However, due to large individual differences within the ASC\ud group, this did not reach significance. Although no evidence of transfer to the real-world post-test was shown, anecdotal evidence of\ud classroom transfer was reported. The work presented in this paper offers an important contribution to the growing body of research\ud in the context of AI technology design and use for autism intervention in real school contexts. Specifically, the work highlights key\ud methodological challenges and opportunities in this area by leveraging interdisciplinary insights in a way that (i) bridges between\ud educational interventions and intelligent technology design practices, (ii) considers the design of technology as well as the design of\ud its use (context and procedures) on par with one another, and (iii) includes design contributions from different stakeholders, including\ud children with and without ASC diagnosis, educational practitioners and researchers.

Published
2018
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35. Building an Intelligent, Authorable Serious Game for Autistic Children and Their Carers

Author

Reidsma, D., Katayose, H., Niholt, A., Porayska-Pomsta, Kaska, Anderson, Keith, Bernardini, Sara, Guldberg, Karen, Smith, Tim, Kossivaki, Lila, Hodgins, Scott, Lowe, Ian, Reidsma, D., Katayose, H., Niholt, A., Porayska-Pomsta, Kaska, Anderson, Keith, Bernardini, Sara, Guldberg, Karen, Smith, Tim, Kossivaki, Lila, Hodgins, Scott, and Lowe, Ian

Abstract

This paper introduces the SHARE-IT project, which leverages serious games paradigm to motivate and engage children with autism diagnosis in interactive activities, based on the state-of-the-art autism intervention practices. The aim of SHARE-IT is to formulate, in partnership with schools, parents and industry, the requirements for a robust, intelligent and authorable environment for supporting children in exploring, practicing and acquiring social interaction skills. SHARE-IT focuses on two key challenges: (i) developing robust system architecture and implementation, able to support both continuing development of a serious game for children with autism and its real world use; and (ii) selecting appropriate technologies and techniques to allow for (a) multi-device and operating system deployment, (b) the development of an intelligent serious game for supporting social interaction while (c) allowing the flexibility for the environment to be authored by lay persons. SHARE-IT’s architecture is presented and several considerations of importance to enabling the engineering of an intelligent and authorable serious game are discussed. Examples of technologies developed to date are given throughout and a discussion of future challenges offered.

Published
2013

36. Building Autonomous Social Partners for Autistic Children

Author

Nakano, Y., Neff, M., Paiva, A., Walker, M., Bernardini, Sara, Porayska-Pomsta, Kaska, Smith, Tim, Avramides, Katerina, Nakano, Y., Neff, M., Paiva, A., Walker, M., Bernardini, Sara, Porayska-Pomsta, Kaska, Smith, Tim, and Avramides, Katerina

Abstract

We present the design and implementation of an autonomous virtual agent that acts as a credible social partner for children with Autism Spectrum Conditions and supports them in acquiring social communication skills. The agent’s design is based on principles of best autism practice and input from users. Initial experimental results on the efficacy of the agent show encouraging tendencies for a number of children.

Published
2012

37. Developing technology for autism: an interdisciplinary approach

Author

Porayska-Pomsta, Kaska, Frauenberger, Christopher, Pain, Helen, Rajendran, Gnanathusharan, Smith, Tim, Menzies, R, Foster, M.E., Alcorn, Alyssa, Wass, Sam, Bernardini, Sara, Avramides, Katerina, Keay-Bright, W, Chen, J, Waller, A, Guldberg, Karen, Good, J, Lemon, Oliver, Porayska-Pomsta, Kaska, Frauenberger, Christopher, Pain, Helen, Rajendran, Gnanathusharan, Smith, Tim, Menzies, R, Foster, M.E., Alcorn, Alyssa, Wass, Sam, Bernardini, Sara, Avramides, Katerina, Keay-Bright, W, Chen, J, Waller, A, Guldberg, Karen, Good, J, and Lemon, Oliver

Abstract

We present an interdisciplinary methodology for designing interactive multi-modal technology for young children with autism spectrum disorders (ASDs). In line with many other researchers in the field, we believe that the key to developing technology in this context is to embrace perspectives from diverse disciplines to arrive at a methodology that delivers satisfactory outcomes for all stakeholders. The ECHOES project provided us with the opportunity to develop a technology-enhanced learning (TEL) environment that facilitates acquisition and exploration of social skills by typically developing (TD) children and children with autism spectrum disorders (ASDs). ECHOES’ methodology and the learning environment rely crucially on multi-disciplinary expertise including developmental psychology, visual arts, human–computer interaction, artificial intelligence, education, and several other cognate disciplines. In this article, we reflect on the methods needed to develop a TEL environment for young users with ASDs by identifying key features, benefits, and challenges of this approach.

Published
2011

38. Social Communication Between Virtual Characters and Children with Autism

Author

Biswas, G, Bull, S, Kay, J, Mitrovic, A, Alcorn, Alyssa, Pain, Helen, Rajendran, Gnanathusharan, Smith, Tim, Lemon, Oliver, Porayska-Pomsta, Kaska, Foster, Mary Ellen, Avramides, Katerina, Frauenberger, Christopher, Bernardini, Sara, Biswas, G, Bull, S, Kay, J, Mitrovic, A, Alcorn, Alyssa, Pain, Helen, Rajendran, Gnanathusharan, Smith, Tim, Lemon, Oliver, Porayska-Pomsta, Kaska, Foster, Mary Ellen, Avramides, Katerina, Frauenberger, Christopher, and Bernardini, Sara

Abstract

Children with ASD have difficulty with social communication, particularly joint attention. Interaction in a virtual environment (VE) may be a means for both understanding these difficulties and addressing them. It is first necessary to discover how this population interacts with virtual characters, and whether they can follow joint attention cues in a VE. This paper describes a study in which 32 children with ASD used the ECHOES VE to assist a virtual character in selecting objects by following the character’s gaze and/or pointing. Both accuracy and reaction time data suggest that children were able to successfully complete the task, and qualitative data further suggests that most children perceived the character as an intentional being with relevant, mutually directed behaviour.

Published
2011

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