Htn Planning And Robust Planning

Lecture 25 of 42 Wednesday, 17 October 2007 William H. Hsu Department of Computing and Information Sciences, KSU KSOL course page: http://snipurl.com/v9v3 Course web site: http://www.kddresearch.org/Courses/Fall-2007/CIS730 Instructor home page: http://www.cis.ksu.edu/~bhsu Reading for Next Class: Section 12.1 – 12.4, Russell & Norvig 2 nd edition HTN Planning and Robust Planning Discussion: Midterm Exam Review

Lecture Outline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

POP Algorithm [1]: Review Adapted from slides by S. Russell, UC Berkeley

Adapted from slides by S. Russell, UC Berkeley POP Algorithm [2]: Subroutines and Properties Review

Review: POP Example – Sussman Anomaly Adapted from slides by S. Russell, UC Berkeley

Planning and Learning Roadmap ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Hierarchical Abstraction Planning Adapted from Russell and Norvig ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Universal Quantifiers in Planning ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Practical Planning ,[object Object],[object Object],[object Object],[object Object],[object Object],Adapted from Russell and Norvig

Review: How Things Go Wrong in Planning Adapted from slides by S. Russell, UC Berkeley

Review: Practical Planning Solutions Adapted from slides by S. Russell, UC Berkeley

Conditional Planning Adapted from slides by S. Russell, UC Berkeley

Monitoring and Replanning Adapted from slides by S. Russell, UC Berkeley

Preconditions for Remaining Plan Adapted from slides by S. Russell, UC Berkeley

Replanning Adapted from slides by S. Russell, UC Berkeley

Solutions Adapted from slides by S. Russell, UC Berkeley

Summary Points ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Adapted from slides by S. Russell, UC Berkeley

Adapted from slides by S. Russell, UC Berkeley Terminology ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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