Download - Lecture 24 of 42
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Lecture 24 of 42
Friday, 20 October 2006
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-2006/CIS730
Instructor home page: http://www.cis.ksu.edu/~bhsu
Reading for Next Class:
Section 11.4 – 11.7, Russell & Norvig 2nd edition
Graph PlanningDiscussion: Exam 1 Review
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Lecture Outline
Next Monday’s Reading: Sections 11.4 – 11.7, R&N 2e
Monday Midterm exam review: search and constraints, game tree search
Planning continued
Today: Classical Planning Graph planning: STRIPS and more, Sussman anomaly
Operator definitions
Threat resolution: clobbering, promotion / demotion
Hierarchical planning overview
Next Week: Practical Planning Conditional Planning
Replanning
Monitoring and Execution
Continual Planning
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
State Space versus Plan Space
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
Successor State Axioms:Review
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Making Plans:A Better WayMaking Plans:A Better Way
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Partially-Ordered Plans
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
POP Algorithm [1]:Sketch
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
POP Algorithm [2]:Subroutines and Properties
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Clobbering andPromotion / Demotion
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Review:Clobbering and Promotion / Demotion in
Plans
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Review:POP Example – Sussman Anomaly
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Hierarchical Abstraction Planning
Adapted from Russell and Norvig
Need for Abstraction Question: What is wrong with uniform granularity?
Answers (among many)Representational problems
Inferential problems: inefficient plan synthesis
Family of Solutions: Abstract Planning But what to abstract in “problem environment”, “representation”?
Objects, obstacles (quantification: later)
Assumptions (closed world)
Other entities
Operators
Situations
Hierarchical abstractionSee: Sections 12.2 – 12.3 R&N, pp. 371 – 380
Figure 12.1, 12.6 (examples), 12.2 (algorithm), 12.3-5 (properties)
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Universal Quantifiers in Planning
Quantification within Operators p. 383 R&N
ExamplesShakey’s World
Blocks World
Grocery shopping
Others (from projects?)
Exercise for Next Tuesday: Blocks World
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Practical Planning
Adapted from Russell and Norvig
The Real World What can go wrong with classical planning?
What are possible solution approaches?
Conditional Planning
Monitoring and Replanning (Next Time)
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Review:Clobbering and Promotion / Demotion in
Plans
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Review:How Things Go Wrong in Planning
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Review:Practical Planning Solutions
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
Conditional Planning
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Monitoring and ReplanningMonitoring and Replanning
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
Preconditions for Remaining Plan
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
Replanning
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Solutions
Adapted from slides by S. Russell, UC Berkeley
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Summary Points
Previously: Logical Representations and Theorem Proving Propositional, predicate, and first-order logical languages
Proof procedures: forward and backward chaining, resolution refutation
Today: Introduction to Classical Planning Search vs. planning
STRIPS axiomsOperator representation
Components: preconditions, postconditions (ADD, DELETE lists)
Thursday: More Classical Planning Partial-order planning (NOAH, etc.)
Limitations
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Computing & Information SciencesKansas State University
Friday, 20 Oct 2006CIS 490 / 730: Artificial Intelligence
Adapted from slides by S. Russell, UC Berkeley
Terminology
Classical Planning Planning versus search
Problematic approaches to planningForward chaining
Situation calculus
Representation Initial state
Goal state / test
Operators
Efficient Representations STRIPS axioms
Components: preconditions, postconditions (ADD, DELETE lists)
Clobbering / threatening
Reactive plans and policies
Markov decision processes