Teaching Computers To Make Plans
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1 November 14, 2018 Millersville University UNIV 103
2 Making lock-moving Plans What Is True Now? There are blocks and on a table and a block on top of block
3 Making lock-moving Plans What Is True Now? There are blocks and on a table and a block on top of block What Do I Want To e True? The block is on the table, with block on top of it and block on top of
4 Making lock-moving Plans What Is True Now? There are blocks and on a table and a block on top of block What Do I Want To e True? The block is on the table, with block on top of it and block on top of What ctions an I Take? robotic arm can move a block x from the table to on top of a block y, as long as neither x nor y is covered Or it can move a block x from on top of a block y to the table, as long as x is not covered Or it can move a block x from on top of a block y to on top of a block z, as long as neither x or z is covered
5 Part Of The lock-moving State Space
6 Representations Purpose omputers are not good at interpreting natural language They are very good at manipulating symbols in a formal language
7 Representations Purpose omputers are not good at interpreting natural language They are very good at manipulating symbols in a formal language pproach Each of the things that is (or could be) true of the world will be a sentence in first-order logic The current state is a set of logical atoms n action has preconditions, negative effects, and positive effects, all sets of logical atoms Our goal is a set of logical atoms
8 States In lock-moving Problem { OnTable( ), OnTable( ), Onlock(, ), lear( ), lear( ) } { OnTable( ), OnTable( ), OnTable( ), lear( ), lear( ), lear( ) } { OnTable( ), Onlock(, ), Onlock(, ), lear( ) }
9 n ction In lock-moving Problem ( :action MovelockTolock(,, ) :preconditions { Onlock(, ), lear( ), lear( ) } :negative-effects { Onlock(, ), lear( ) } :positive-effects { Onlock(, ), lear( ) } )
10 Linear Planning Finding Plan If the goal is true in the current state, no actions are necessary Otherwise, think about what the new state would be if we took one of the applicable actions If the goal is true in that successor state, then that action solves the problem If not, maybe some new action will be applicable in the successor state
11 Linear Planning Finding Plan If the goal is true in the current state, no actions are necessary Otherwise, think about what the new state would be if we took one of the applicable actions If the goal is true in that successor state, then that action solves the problem If not, maybe some new action will be applicable in the successor state Search Strategies readth-first search looks at all plans of 1 action, then all plans of 2 actions, etc. Depth-first search chooses an action, immediately looks for actions from the successor state, chooses one, etc.
12 Linear Search For Plan (Depth-First)
13 Linear Search For Plan (Depth-First)
14 Linear Search For Plan (Depth-First)
15 Linear Search For Plan (Depth-First)
16 Linear Search For Plan (Depth-First)
17 Linear Search For Plan (Depth-First)
18 Linear Search For Plan (Depth-First)
19 Linear Search For Plan (Depth-First)
20 Linear Search For Plan (Depth-First)
21 Linear Search For Plan (Depth-First)
22 Making Travel Plans What Is True Now? I am at Millersville, have a car full of gasoline, and have $500
23 Making Travel Plans What Is True Now? I am at Millersville, have a car full of gasoline, and have $500 What Do I Want To e True? I am at Notre Dame
24 Making Travel Plans What Is True Now? I am at Millersville, have a car full of gasoline, and have $500 What Do I Want To e True? I am at Notre Dame What ctions an I Take? Drive from location x to location y, as long as I am in location x and have an automobile with enough gasoline uy an airplane ticket from airport x to airport y, as long as I am in airport x and have enough money Fly from airport x to airport y, as long as I am in airport x and have a ticket Take a taxi from location x to location y, as long as I am in location x and have enough money and a driver is willing to take me
25 Hierarchical Planning Tasks Instead of a goal set of logical atoms to make true, a hierarchical planner has a sequence of tasks to accomplish Some tasks are primitive, which means they are equivalent to actions, others are nonprimitive
26 Hierarchical Planning Tasks Instead of a goal set of logical atoms to make true, a hierarchical planner has a sequence of tasks to accomplish Some tasks are primitive, which means they are equivalent to actions, others are nonprimitive Decomposition Methods Decomposition methods state that one nonprimitive task can be accomplished by accomplishing a sequence of simpler or more concrete tasks omponents: head, which is the nonprimitive task to decompose sequence of subtasks, which are the way the task may be accomplished set of preconditions that specify when it is legal / possible to accomplish the task this way
27 Example Decomposition Methods The Task Of Traveling Millersville To Notre Dame If I have a lot of money, I could travel Millersville to PHI, travel PHI to ORD, and then travel ORD to Notre Dame If I have at least some money and a car, I could drive, stopping at various waypoints for fuel I could hitchhike, no matter what
28 Example Decomposition Methods The Task Of Traveling Millersville To Notre Dame If I have a lot of money, I could travel Millersville to PHI, travel PHI to ORD, and then travel ORD to Notre Dame If I have at least some money and a car, I could drive, stopping at various waypoints for fuel I could hitchhike, no matter what The Task Of Traveling Millersville To PHI If I have a car with enough fuel, I could drive there If I have enough money, I could take a taxi
29 Example Decomposition Methods The Task Of Traveling Millersville To Notre Dame If I have a lot of money, I could travel Millersville to PHI, travel PHI to ORD, and then travel ORD to Notre Dame If I have at least some money and a car, I could drive, stopping at various waypoints for fuel I could hitchhike, no matter what The Task Of Traveling Millersville To PHI If I have a car with enough fuel, I could drive there If I have enough money, I could take a taxi The Task Of Traveling PHI To ORD If I have enough money, I can buy a ticket then take a flight If I have a car and some money, I could drive there
30 Hierarchical Search For Plan Travel( Millersville, Notre Dame )
31 Hierarchical Search For Plan Travel( Millersville, Notre Dame ) Travel( Millersville, PHI ) Travel( PHI, ORD ) Travel( ORD, Notre Dame )
32 Hierarchical Search For Plan Travel( Millersville, Notre Dame ) Travel( Millersville, PHI ) Travel( PHI, ORD ) Travel( ORD, Notre Dame ) Drive( Millersville, PHI, Myar )
33 Hierarchical Search For Plan Travel( Millersville, Notre Dame ) Travel( Millersville, PHI ) Travel( PHI, ORD ) Travel( ORD, Notre Dame ) uyticket( Flight102 ) Drive( Millersville, PHI, Myar ) TakeFlight( Flight102 )
34 Hierarchical Search For Plan Travel( Millersville, Notre Dame ) Travel( Millersville, PHI ) uyticket( Flight102 ) Travel( PHI, ORD ) alltaxi( ORD, Taxi1 ) Travel( ORD, Notre Dame ) Drive( Millersville, PHI, Myar ) TakeFlight( Flight102 ) RideInTaxi( ORD, Notre Dame, Taxi1 )
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