Planning with Incomplete, Unbounded Information. May 20, 2003 Tal Shaked. Types of Incomplete Information. Finite set of states (objects, relations) Uncertain of current state Realistic? Infinite set of states Many objects and relations (most unknown) Too large to reason about directly.
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Planning with Incomplete, Unbounded Information
May 20, 2003
Tal Shaked
PKS (2002)
Petrick and Bacchus
Contingent plans
Puccini (1998)
Etzioni, Golden, Weld
Internet softbot
How is inference done?
If we know all files in jokes/, then we know if the file giggy is in jokes/
If we know all files in jokes/, and know all dirty jokes, then we know if giggy is dirty and in jokes/
Start: ((own my_book)
(book_subject my_book chess))
Goal: ((own ?book)
(book_subject ?book go))
Predicates:
(own ?book)
(book_subject ?book ?subject)
(at_store ?book ?book_store)
action: trade(?book1 ?book2 ?book_store)
precond: ((own ?book1) (at_store ?book2 ?book_store))
effect: ((own ?book2) (not (own?book1)))
action: search(?book_store ?subject)
precond: ()
effect: (forall (!book)
(when (at_store !book ?book_store)
(at_store !book ?book_store)
(book_subject !book ?subject)))
(LCW((at_store #book ?book_store)
(book_subject #book ?subject))
PlanPKS
if(goalsSatisfied) return plan
else choose some action, apply it, PlanPKS
or choose some ground instance in Kw
PlanPKS with added to Kf
PlanPKS with ¬ added to Kf
return merged, contingent plan
When does this search terminate?
What are some problems and limitations?
Initial State:
Kf = {(=(pwd) root), (indir papers root), (indir planner root),
(dir root), (dir papers), (dir planner), (file paper_tex)}
Kx = {((indir paper_tex planner) | (indir paper_tex papers))}
Goal:
K(indir paper_tex (pwd))
Directory Structure
Contingent Plan
Start: (pwd) = root
Goal: Know paper_tex is in the current directory (pwd)
Exclusive Or: paper_tex is in either papers or planner
Is this plan optimal?
What are problems with this representation of plans?
Initial State: bottle of liquid, a healthy lawn
Goal: know whether liquid is poisonous