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Cs221 lecture7-fall11
- 1. CS 221: Artificial Intelligence Planning (and Basic Logic) Peter Norvig and Sebastian Thrun Slide credits: Stuart Russell, Rina Dechter, Rao Kambhampati
- 4. What’s wrong with Problem-Solving Plan: [Forward, Forward, Forward, …]
- 5. What’s wrong with Problem-Solving
- 7. Dealing with Partial Observability: World vs. Belief States
- 8. Sensorless – Belief States - Conformant Plans
- 9. Deterministic world Slippery wheels Partial (local) Observability and Stochastic Worlds Deterministic actions; observe only local square Observe only local square; Suck is determ. R/L are stoch. (may fail to move)
- 10. Slippery wheels Planning and Sensing in Partially Observable and Stochastic World What is a plan to achieve all states clean? [1: Suck ; 2: Right ; ( if A : goto 2); 3: Suck ] also written as [ Suck ; ( while A : Right ); Suck ] Observe only local square; Suck is determ. R/L are stoch.; may fail to move
- 11. Search Graph as And/Or Tree What do we need to guarantee success? What kind of guarantee?
- 13. Kindergarten world: dirt may appear anywhere at any time, But actions are guaranteed to work. b1 b3 =UPDATE( b1 ,[ A,Clean ]) b5 = UPDATE( b4,… ) b2 =PREDICT( b1, Suck ) b4 =PREDICT( b3 , Right )
- 19. Expressiveness of the language
- 23. Plan-space search Start Finish Left Sock Finish Start Right Shoe Finish Start Right Shoe Finish Start Left Shoe
- 30. Convex search: ignore del lists
- 31. Factored Rep allows control
- 32. Factored Rep allows control
- 37. Situations as Result of Action Situation Calculus First-order Logic ∃s, p : Goal(s) ∧ s = Result(s0, p) s = Result(s, []) Result(s, [a,b,…]) = Result(Result(s, a), [b,…])
- 42. Planning Graph Example Create level 0 from initial problem state.
- 43. Planning Graph Example Add all applicable actions. Add all effects to the next state.
- 44. Planning Graph Example Add persistence actions (inaction = no-ops) to map all literals in state S i to state S i+1 .
- 45. Planning Graph Example Identify mutual exclusions between actions and literals based on potential conflicts.
Hinweis der Redaktion
- This course: Spiral approach to dealing with complexity
- Executing a plan without looking at the world often fails
- In the real world actions are at many levels: the action of driving from one city to the next involves a series of intersection-to-intersection actions, each of which involves a sequence of steering wheel, accelerator, and brake actions.
- Deterministic, fully observable world: how to get from upper left to clean state?
- Conformant plan to clean everything? Didn’t know where we were, but didn’t matter
- Slippery wheels: may move, may not. Suck always works.
- Slippery wheels: may move, may not. Suck always works.
- Does predict add or subtract states? Does update?
- What about h(s)? Is that atomic?
- In classical planning, schema over finite domain – abbreviation for spelling out individual variables.