Hierarchical Pom dp Planning And Execution

1. Hierarchical POMDP Planning and Execution Joelle Pineau Machine Learning Lunch November 20, 2000

6. Example M B K E 0.1 0.1 0.1 0.1 0.1 0.1 0.8 0.8 POMDP: S o = { M eds, K itchen, B edroom} A o = {ClarifyTask, Check M eds, GoTo K itchen, GoTo B edroom} O o = {Noise, M eds, K itchen, B edroom} Value Function: MedsState KitchenState BedroomState 0.8 GoToKitchen ClarifyTask GoToBedroom CheckMeds

7. Hierarchical POMDP Action Partitioning: Act Move CheckMeds ClarifyTask ClarifyTask GoToKitchen GoToBedroom

8. Local Value Function and Policy - Move Controller ClarifyTask GoToKitchen GoToBedroom MedsState KitchenState BedroomState

9. Modeling Abstract Actions ClarifyTask GoToKitchen GoToBedroom MedsState KitchenState BedroomState Problem : Need parameters for abstract action Move Solution : Use the local policy of corresponding low-level controller General form : Pr ( s j | s i , a k abstract ) = Pr ( s j | s i , Policy(a k abstract ,s i ) ) Example : Pr ( s j | MedsState , Move ) = Pr ( s j | MedsState , ClarifyTask ) Policy (Move,s i ):

10. Local Value Function and Policy - Act Controller Move MedsState KitchenState BedroomState CheckMeds

11. Comparing Policies Hierarchical Policy: Optimal Policy: = ClarifyTask = CheckMeds = GoToKitchen = GoToBedroom

13. A real dialogue management example - AskGoWhere - GoToRoom - GoToKitchen - GoToFollow - VerifyRoom - VerifyKitchen - VerifyFollow - GreetGeneral - GreetMorning - GreetNight - RespondThanks - AskWeatherTime - SayCurrent - SayToday - SayTomorrow - StartMeds - NextMeds - ForceMeds - QuitMeds - AskCallWho - CallHelp - CallNurse - CallRelative - VerifyHelp - VerifyNurse - VerifyRelative - AskHealth - OfferHelp - SayTime Act CheckHealth Phone DoMeds CheckWeather Move Greet

14. Results: