Beruflich Dokumente
Kultur Dokumente
140
Average Filtering Time (sec)
5 Blocks 5 Blocks
10 Blocks
not require that the input actions be 1:1, as long as the initial 0.15
20 Blocks
30 Blocks
120 10 Blocks
20 Blocks
30 Blocks
belief state is a CNF formula that contains all of its prime 100
60
30
Average Filtering Time (sec)
3000
25 2500
shop W4. Model Computation, 2003.
20 2000 Richard Fikes, Peter Hart, and Nils Nilsson. Learning and
15 1500 executing generalized robot plans. In Bonnie Webber and
10 1000 Nils Nilsson, editors, Readings in Artificial Intelligence,
5 500 pages 231–249. Morgan Kaufmann, 1981.
0
5 10 15 20 25 30
0
5 10 15 20 25 30 Henry Kautz and Bart Selman. Pushing the envelope: Plan-
Number of Filtering Steps Number of Filtering Steps
ning, propositional logic, and stochastic search. In AAAI-
96, 1996.
Figure 5: Param-STRIPS-Term in Kriegspiel Henry Kautz, David McAllester, and Bart Selman. En-
coding plans in propositional logic. In J. Doyle, editor,
We filtered using Param-STRIPS-Term, with its efficiency Proceedings of KR’96, pages 374–384, Cambridge, Mas-
guarantees, which gave us an approximation to the belief sachusetts, November 1996. KR, Morgan Kaufmann.
state. We assume that we are given the type of piece moved, Paolo Liberatore. The complexity of belief update. In Pro-
but not the actual piece nor its initial or final location. Thus, ceedings of the Fifteenth International Joint Conference on
example actions would be moveKnight(?p, ?x, ?y, ?a, ?b) Artificial Intelligence (IJCAI’97), pages 68–73, 1997.
or rookCapture(?c, ?p, ?x, ?y, ?a, ?b). Figure 5 details our Kevin Murphy. Dynamic Bayesian Networks: Represen-
filtering results. Our results are exciting because current tation, Inference and Learning. PhD thesis, University of
technology cannot track exactly even a few steps (Russell California at Berkeley, 2002.
and Wolfe 2005). Note also the difficulty of using the propo- Alexander Riazanov and Andrei Voronkov. Vampire 1.1
sitional STRIPS filter over a disjunction of actions. For each (system description). In Proc. First International Joint
unspecified move action, each containing 5 parameters, the Conference on Automated Reasoning (IJCAR ’01), number
propositional filter would have to filter over 16 · 84 = 65536 2083 in Lecture Notes in Computer Science, pages 376–
grounded actions. Thus, in practical application, our algo- 380. Springer, 2001.
rithms render a new class of problems tractable.
Stuart Russell and Jason Wolfe. Finding checkmates in
Kriegspiel. In Proc. Nineteenth International Joint Confer-
5 Conclusion and Discussion ence on Artificial Intelligence (IJCAI ’05). Morgan Kauf-
In this paper we presented the problem of Observed-Action mann, 2005.
Reasoning and described four algorithms for its solution.
Our main contribution, Algorithm Param-STRIPS-1:1 and Afsaneh Shirazi and Eyal Amir. First order logical filter-
Algorithm Param-STRIPS-Term, update belief-state repre- ing. In Proc. Nineteenth International Joint Conference
sentations using new object constant symbols for unob- on Artificial Intelligence (IJCAI ’05). Morgan Kaufmann,
served parameters. This representation allows the tracking 2005.