Course Logistics Textbook: Artificial Intelligence: A Modern Approach, Russell and Norvig (3 rd ed) Topics
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1 CE 573: Atiiil Intllign Autumn 0 Intoution & Dn Wl Wit slis om Dn Klin, tut Russll, Anw Moo, Luk Zttlmoy Cous Logistis Txtook: Atiiil Intllign: A Mon Ao, Russll n Novig (3 ) Puisits: Dt tutus (CE 36 o CE 3) o uivlnt Unstning o oility, logi lgoitms, omlxity Wok: Rings (txt & s), Pogmming ssignmnt (40%), Wittn ssignmnts (0%), Finl ojt (30%), Clss tiition (0%) Tois Intoution Mtos & Huisti Constution m Plying (minimx, l t, xtimx) Mkov Dision Posss & POMDPs Rinomnt Lning Knowlg Rsnttion & Rsoning Logi & Plnning Contint tistion Untinty, Bysin Ntwoks, HMMs uvis Min Lning Ntul Lngug Possing Mix Humn / Min Comuttion Pistoy Logil Rsoning: (4 t C BC+) Aistotl, og Bool, ottlo Fg, Al Tski Poilisti Rsoning: (6 t C+) olmo Cno, Pi Fmt, Jms Bnoulli, Toms Bys n : Ely Dys 94: Asimov: Positoni Bin; T Lws o Rootis. A oot my not inju umn ing o, toug intion, llow umn ing to om to m.. A oot must oy t os givn to it y umn ings, xt w su os woul onlit wit t Fist Lw. 3. A oot must ott its own xistn s long s su ottion os not onlit wit t Fist o on Lws. 943: MCullo & Pitts: Booln iuit mol o in 946: Fist igitl omut - ENIAC T Tuing Tst Tuing (950) Comuting miny n intllign Cn mins tink? Cn mins v intlligntly? T Imittion m: uggst mjo omonnts o AI: knowlg, soning, lngug unstning, lning
2 : Exitmnt 950s: Ely AI ogms, inluing mul's ks ogm, Nwll & imon's Logi Toist, lnt's omty Engin 956: Dtmout mting: Atiiil Intllign ot 965: Roinson's omlt lgoitm o logil soning Ov Cistms, Alln Nwll n I t tinking min. -Ht imon : Knowlg Bs ystms : Ely vlomnt o knowlg-s systms : Ext systms inusty ooms : 93: Ext systms inusty usts AI Wint T knowlg ngin tis t t o inging t inils n tools o AI s to on iiult litions olms uiing xts knowlg o ti solution. - Ew Flgnum in T At o Atiiil Intllign 988--: ttistil Aos Wt is AI? : Ris o Poility n Dision Toy Eg, Bys Nts Ju Pl - ACM Tuing Aw : Min lning tks ov suils: Vision, Ntul Lngug, t. T sin o mking mins tt: Tink lik umns Tink tionlly At lik umns At tionlly "Evy tim I i linguist, t omn o t s ogniz gos u" - F Jlink, IBM Tm Dsigning Rtionl Agnts Rtionl Disions An gnt is n ntity tt ivs n ts. A tionl gnt slts tions tt mximiz its utility untion. Agnt nsos Pts? Ctistis o t ts, nvionmnt, n tion s itt Atutos tnius o slting Ations tionl tions. CE 573 nl AI tnius o vity o olm tys Lning to ogniz wn n ow nw olm n solv wit n xisting tniu Envion mnt W ll us t tm tionl in tiul wy: Rtionl: mximlly iving -in gols Rtionl only onns wt isions m (not t tougt t oss in tm) ols xss in tms o t utility o outoms Bing tionl mns mximizing you xt utility A tt titl o tis ous migt : Comuttionl Rtionlity
3 Cn W Buil It? tt o t At My tnsistos 0 its o RAM yl tim: 0-9 s vs. 0 nuons 0 4 synss yl tim: 0-3 s I oul l I oul smll nw kin o intllign oss t tl -y Ksov ying D Blu osn t lly tink out ss is lik sying n iln osn t lly ly us it osn t l its wings. Dw MDmott Agnts Rommntions tt:// 5 6 Agnts Agnts tno C DARPA n Cllng Bkly Autonomous Hliot 7 8 3
4 Wt Cn AI Do? Bownis Anyon? Quiz: Wi o t ollowing n on t snt? Ply nt gm o o? Ply winning gm o Css? o? Joy? Div sly long uving mountin o? Univsity Wy? Buy wk's wot o gois on t W? At QFC? Mk? Mk k? Disov n ov nw mtmtil tom? Pom omlx sugil otion? Unlo isws n ut vyting wy? Tnslt Cins into Englis in l tim? Mtmtil Clultion Pmn s n Agnt Utility Funtion? Imlmnttion? Oiginlly vlo t UC Bkly: tt://www-inst.s.kly.u/~s88/mn/mn.tml P: P: m Plying ol: Hl P-mn in is wy toug t mz Tnius: : tist, t-ist, t. Huisti : Bst-ist, A*, t. ol: Ply P-mn! Tnius: Avsil : minimx, l-t, xtimx, t. 4
5 P3: Plnning n Lning ol: Hl P-mn ln out t wol Tnius: Plnning: MDPs, Vlu Ittions Lning: Rinomnt Lning P4: ostusts ol: Hl P-mn unt own t gosts Tnius: Poilisti mols: HMM, Bys Nts Inn: tt stimtion n til ilting You oi (No inl xm) Finl Pojt Avn tois Ptilly-osvl MDPs uvis lning Ntul lngug ossing Mix umn/utonomous omuttion Assign 0: Pyton Tutoil Onlin, ut not g tting Now! Assign : On t w. Du Tus 0/ tt ly n sk ustions. It s long tn most! Outlin Agnt vs. Envionmnt Agnts tt Pln A Polms Uninom Mtos (t viw o som) Dt-Fist Bt-Fist Uniom-Cost Huisti Mtos (nw o ll) Bst Fist / y An gnt is n ntity tt ivs n ts. A tionl gnt slts tions tt mximiz its utility untion. Ctistis o t ts, nvionmnt, n tion s itt tnius o slting tionl tions. Agnt nsos? Atutos Pts Ations Env vionmnt 5
6 Tys o Envionmnts Fully osvl vs. tilly osvl ingl gnt vs. multignt Dtministi vs. stosti Eisoi vs. suntil Dist vs. ontinuous Fully osvl vs. Ptilly osvl Cn t gnt osv t omlt stt o t nvionmnt? vs. ingl gnt vs. Multignt Is t gnt t only ting ting in t wol? Dtministi vs. tosti Is t untinty in ow t wol woks? vs. vs. Eisoi vs. until Dos t gnt tk mo tn on tion? Dist vs. Continuous Is t init (o ountl) num o ossil nvionmnt stts? vs. vs. 6
7 Tys o Agnt Rlx Agnts An gnt is n ntity tt ivs n ts. A tionl gnt slts tions tt mximiz its utility untion. Ctistis o t ts, nvionmnt, n tion s itt tnius o slting tionl tions. Agnt nsos? Atutos Pts Ations Env vionmnt Rlx gnts: Coos tion s on unt t (n my mmoy) Do not onsi t utu onsuns o ti tions At on ow t wol I Cn lx gnt tionl? Cn non-tionl gnt iv gols? Fmous Rlx Agnts ol Bs Agnts Pln Ask wt i Disions s on (yotsiz) onsuns o tions Must v mol o ow t wol volvs in sons to tions At on ow t wol WOULD BE tu Polm / tt Inut: t o stts Otos [n osts] tt stt ol stt [tst] Exml: imlii P-Mn Inut: A stt s A susso untion N,.0 Outut: Pt: stt stt stisying gol tst [My ui sotst t] [omtims just n stt ssing tst] A stt stt A gol tst Outut: E,.0 7
8 Ex: Rout Plnning: Romni Bust Exml: N Quns Inut: t o stts Otos [n osts] Inut: t o stts Otos [n osts] Q Q Q Q tt stt tt stt ol stt (tst) ol stt (tst) Outut: Outut Ex: Bloks Wol Inut: t o stts Ptilly sii lns Otos [n osts] tt stt Pln moiition otos T null ln (no tions) ol stt (tst) A ln wi ovly ivs T si wol onigution Multil Polm s Rl Wol tts o t wol (.g. lok onigutions) Ations (tk on wol-stt to not) Root s H Polm P stts = mols o wol stts Otos = mols o tions Polm P stts = tilly s. ln Otos = ln moiit n os Outut: Algi imliition tt s Inut: t o stts Otos [n osts] tt stt ol stt (tst) tt s g: E no is stt T susso untion is snt y s Egs my ll wit osts W n ly uil tis g in mmoy (so w on t) Riiulously tiny s g o tiny s olm Outut: 47 8
9 Polm: Et ll o t oo Pmn ositions: 0 x = 0 Pmn ing: u, own, lt, igt Foo Count: 30 ost ositions: tt izs? Mtos Blin Dt ist s Bt ist s Ittiv ning s Uniom ost s Lol Inom Constint tistion Avsy Ts Exml: T N,.0 E,.0 tt : A s t: tt stt t t oot no Ciln oson to sussos Nos ontin stts, oson to PLAN to tos stts Wt is t s t? Egs ll wit tions n osts Fo most olms, w n nv tully uil t wol t tt s vs. Ts tts vs. Nos E NODE in in t s t nots n nti PATH in t olm g. Nos in stt s gs olm stts Rsnt n stt stt o t wol Hv sussos, n gol / non-gol, v multil ssos Nos in s ts lns Rsnt ln (sun o tions) wi sults in t no s stt Hv olm stt n on nt, t lngt, t & ost T sm olm stt my iv y multil s t nos W onstut ot on mn n w onstut s littl s ossil. Polm tts T Nos Pnt Dt 5 Ation No Dt 6 9
10 Builing Ts nl T : Exn out ossil lns Mintin ing o unxn lns Ty to xn s w t nos s ossil Imotnt is: Fing Exnsion Exlotion sttgy Dtil suoo is in t ook! Min ustion: wi ing nos to xlo? Rviw: Dt Fist Rviw: Dt Fist Exnsion oing: ttgy: xn st no ist Imlmnttion: Fing is LIFO uu ( stk) (,,,,,,,,,,,,,,) Rviw: Bt Fist Rviw: Bt Fist ttgy: xn sllowst no ist Imlmnttion: Fing is FIFO uu Exnsion o: (,,,,,,,,,,,,,,,,,,,,,,) Tis 0
11 Algoitm Potis Comlt? unt to in solution i on xists? Otiml? unt to in t lst ost t? Tim omlxity? omlxity? Vils: DF Algoitm Comlt Otiml Tim DF Dt Fist N N No No O(B Ininit LMAX ) O(LMAX) Ininit TART n Num o stts in t olm T mximum ning to B (t mximum num o sussos o stt) C* Cost o lst ost solution Dt o t sllowst solution m Mx t o t s t Ininit ts mk DF inomlt How n w ix tis? Ck nw nos ginst t om Ininit s ss still olm OAL DF BF m tis no nos nos m nos Algoitm Comlt Otiml Tim DF w/ Pt Cking Y i init N O( m ) O(m) Algoitm Comlt Otiml Tim DF w/ Pt Cking Y N O( m ) O(m) BF Y Y O( ) O( ) tis no nos nos nos m nos * O g s nxt ltu. Mmoy Limittion? uos: 4 Hz CPU 6 B min mmoy 00 instutions / xnsion 5 yts / no 400,000 xnsions / s Mmoy ill in 300 s 5 min Comisons Wn will BF outom DF? Wn will DF outom BF?
12 Ittiv Dning Ittiv ning uss DF s suoutin:. Do DF wi only ss o ts o lngt o lss.. I il, o DF wi only ss ts o lngt o lss. 3. I il, o DF wi only ss ts o lngt 3 o lss..n so on. Algoitm Comlt Otiml Tim DF w/ Pt Cking Y N O( m ) O(m) BF Y Y O( ) O( ) ID Y Y O( ) O() Cost o Ittiv Dning tio ID to DF Puzzl xx Ruik s 5 Puzzl 3x3x3 Ruik s 4 Puzzl Assuming 0M nos/s & suiint mmoy BF Nos Tim s 0 6. s ys k ys 0 5 B ys Wy t in? Ruik s ig ning to 5 uzzl s gt t Mx 8x It. D. Nos Tim s 0 6. s 0 7 0k ys k ys ys # o ulits li t om Ri Ko snttion Wn to Us Ittiv Dning N Quns? Q Q Q Q Dnil. Wl 70 Costs on Ations Uniom Cost TART Noti tt BF ins t sotst t in tms o num o tnsitions. It os not in t lst-ost t. OAL Exn st no ist: Fing is ioity uu TART OAL
13 Exnsion o: (,,,,,,,,,) Cost ontous Uniom Cost us(ky, vlu).o() o() Pioity Quu Rs A ioity uu is t stutu in wi you n inst n tiv (ky, vlu) is wit t ollowing otions: insts (ky, vlu) into t uu. tuns t ky wit t lowst vlu, n movs it om t uu. You n s ky s ioity y using it gin Unlik gul uu, instions n t onstnt tim, usully O(log n) W ll n ioity uus o ost-snsitiv s mtos Uniom Cost Algoitm Comlt Otiml Tim DF w/ Pt Cking Y N O( m ) O(m) BF Y Y O( ) O( ) UC Y* Y O( C*/ ) O( C*/ ) C*/ tis Uniom Cost Issus Rmm: xlos insing ost ontous T goo: UC is omlt n otiml! T : Exlos otions in vy ition No inomtion out gol lotion tt ol 3 Uniom Cost: P-Mn Cost o o tion Exlos ll o t stts, ut on Huistis Any stimt o ow los stt is to gol Dsign o tiul s olm 0 5. Exmls: Mnttn istn, Eulin istn 3
14 Huistis Bst Fist / y Exn losst no ist: Fing is ioity uu Bst Fist / y Bst Fist / y Exn t no tt sms losst Wt n go wong? A ommon s: Bst-ist tks you stigt to t (wong) gol Wost-s: lik ly- gui DF in t wost s Cn xlo vyting Cn gt stuk in loos i no yl king Lik DF in omltnss (init stts w/ yl king) To Do: Ext Wok? Look t t ous wsit: tt:// Do t ings (C 3) Do P0 i nw to Pyton tt P, wn it is ost Filu to tt t stts n us xonntilly mo wok (wy?) 4
15 In BF, o xml, w souln t ot xning t il nos (wy?) Vy siml ix: nv xn stt ty twi Cn tis wk omltnss? Wy o wy not? How out otimlity? Wy o wy not? om Hints s is lmost lwys tt tn t s (wn not?) Imlmnt you los list s it o st! Nos ontully ts, ut tt to snt wit stt, ost, lst tion, n n to t nt no Bst Fist y Algoitm Comlt Otiml Tim y Bst-Fist Y* N O( m ) O( m ) m Wt o w n to o to mk it omlt? Cn w mk it otiml? Nxt lss! Uniom Cost Wt will UC o o tis g? 0 0 TART OAL Wt os tis mn o omltnss? Bst Fist / y ttgy: xn t losst no to t gol =8 =0 8 =5 =4 5 = 3 9 =8 9 =4 4 =6 5 = = =9 =6 [mo: gy] 5
16 Exml: T 5 Minut Bk A Dn illik oiginl 6
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Unirt Grphs An unirt grph G = (V, E) V st o vrtis E st o unorr gs (v,w) whr v, w in V USE: to mol symmtri rltionships twn ntitis vrtis v n w r jnt i thr is n g (v,w) [or (w,v)] th g (v,w) is inint upon
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