BLG521E - Lecture 3

The real world BLG521E Advanced Artificial Intelligence

Searching with Nondeterministic Actions and Partial Observability
Partially observable
Every percept helps in narrow down the beliefs

Nondeterministic
Percepts tell about the outcomes

Search procedure will be different

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

The erratic Vacuum World

The suck action works as follows:
Sometimes cleans up the dirt in an adjacent square too When applied to a clean square sometimes deposits dirt

Contingency plan
Instead of a single sequence of actions Contingency plan
[Suck, if state = 5 then [Right,Suck] else []]

1 {5 , 7}

When exact prediction is impossible

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

BLG521E - Lecture 3

AND-OR Search Tree

State node chance node

AND-OR Search Algorithm

[Suck, if state = 5 then [Right,Suck] else []]

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay 5

Acyclic solutions are considered

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay 6

Searching with Partial Observations

If the exact state cannot be observed
An action may lead to several possible outcomes (deterministic)

Sensorless Vacuum World, Deterministic

Initial state : {1,2,3,4,5,6,7,8} Action [Right]: {2,4,6,8} Action sequence [Right, Suck]: {4,8} Action sequence [Right, Suck, Left, Suck]: {7}

Sensorless / conformant problem?

Surprisingly useful
noisy sensing cost of sensing

Search in the space of belief states

Belief space is fully observable
Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay 7 Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay 8

BLG521E - Lecture 3

Belief State Search Problem

Belief State Space for sensorless VC

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

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Belief State Space Search

If an action sequence is a solution for a belief state b
It is also a solution for any subset of b Can be used for pruning

Searching with observations

Any percept could have been generated by several states Actions, step cost and goal test are just as for sensorless problems Transition model
Prediction (based on the action) Update (observation)

But still intractable

The size of each belief state More compact representation

Some problems cannot be solved without sensors

With nondeterministic actions

The PREDICT step grows the belief state The UPDATE state shrinks it back down
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Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

BLG521E - Lecture 3

Belief updates

Case Study: Localization Problem

Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

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Advanced Artificial Intelligence (BLG521E) @ ITU :: Computer Engineering Department, Dr. Sanem Sarel-Talay

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