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Lect11 - Homework 2B due today Midterm Exam 1 week from...

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Homework 2B due today Midterm Exam 1 week from Thursday Watch for Homework 3 Not collected or graded (but do it) Watch for posted solutions 1
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State Space Planner Initial State ... ... Forward Search for Goal Goal ... ... Backward Search for subset of Initial State fluents One reason why planning beats searching 2
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State Space Planners Intuitive Efficiency can be problematic Interacting conjunctive subgoals Often heuristics can help Linear / Total Order planners Usually incomplete Sussman Anomaly Seldom expose all planning decisions Action (plan step) scheduling decisions 3
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Empty Plan ... ... Plan Space Planner partial-order planner; nonlinear planner;... Search through alternative Partial Plans Partial plan set of constraints Constraint set denotes all action sequences that satisfy its constraints Empty plan all action sequences Search through alternative constraints for a partial plan that achieves the goal Alternative constraint vocabularies: Operator selection, Codesignation, Non-codesignation , Protection, Ordering… 4
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Nonlinear Planners More elegant theoretically Can be complete Can also be inefficient Redundancies SNLP: Systematic Nonlinear Planner Can cost as much to check for redundancy Heuristics can help 5
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Planning Heuristics Domain independent heuristics are weak Strong heuristics are often domain specific Conflicts w/ domain independence Automatically learn heuristics Planning competitions at ICAPS 6
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