lecture12

lecture12 - Planning as Satisfiability; page 1 of 20...

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Unformatted text preview: Planning as Satisfiability; page 1 of 20 Artificial Intelligence Planning as Satisfiability Pushing the Envelope: Kautz and Selman Planning, Propositional Logic, and Stochastic Search Russell and Norvig: Chapters 5, 11 we follow the following paper http://www.cs.cornell.edu/home/selman/papers-ftp/plan.ps Planning as Satisfiability; page 2 of 20 AIPS-98 Planning Competition Round Round 1 Round 2 Planner BLACKBOX HSP IPP STAN BLACKBOX HSP IPP STAN Av. Time 1.49 35.48 7.40 55.41 2.46 25.87 17.37 1.33 Solved 63 82 63 64 8 9 11 7 Shortest 55 61 49 47 6 5 8 4 Planning as Satisfiability; page 3 of 20 first-order logic (= situation calculus) initial state At(Home, s0) goal state (= query) EXISTS s AND Have(Drill, s) operators FORALL a, s a = Buy(Milk) AND At(Supermarket, s) Have(Milk, s) AND NOT a = Drop(Milk) AND NOT Have(Drill, s0) AND NOT Have(Milk, s0) AND NOT Have(Bananas, s0) At(Home, s) AND Have(Milk, s) AND Have(Bananas, s) Have(Milk, Result(a,s)) EQUIV OR Planning as Satisfiability; page 4 of 20 problems with first-order logic- inefficient- does not necessarily generate a GOOD plan Planning as Satisfiability; page 5 of 20 initial state goal state propositional logic - initial and final situation At(Home,s0) NOT At(SM,s0) NOT At(HWS,s0) NOT Have(Drill,s0) NOT Have(Milk,s0) NOT Have(Bananas,s0) At(Home,s9) Have(Drill,s9) Have(Milk,s9) Have(Bananas,s9) notice: these are not really predicates they are variables (for example, At(home,s0) could be replaced with x) we use knowledge to eliminate variables such as Sells(SM, Milk) from the encoding Planning as Satisfiability; page 6 of 20 propositional logic - operators (1) different encodings are possible- graphplan-based encodings- linear encodings- state-based encodings here: Planning as Satisfiability; page 7 of 20 propositional logic - operators (2)...
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This note was uploaded on 02/14/2010 for the course CSCI 561 at USC.

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lecture12 - Planning as Satisfiability; page 1 of 20...

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