KBAI 笔记 13 Planning

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Block Problem Revisited

前情提要：之前用来解决这个问题的方法是？

Painting a Ceiling

Paint ceiling problem

• the problem that the robot is facing is to paint the ceiling and the ladder.
• human will quickly figure out s/he should paint the ceiling witht he help of the ladder and then paint the ladder.

Represent the Painting a ceiling problem.

Representation of the goal state

States

States

• initial state
• intermediate state. Note, there is no description of the ladder, so there should be no ladder mentioned in the logic.

Operators

Operators

• the operator will be carried out if and only if the precondition exists.

Exercise

• the not Dry state is interesting .

Planning and state spaces:

Planning

• in each state, different operators can generate many possible states and the state space could explode very quickly.
• How to do operator selection?
• how to figure out the route (with the guidance of the goal state)
• control knowledge from the goal state.
• Since operator selection can be affected by goal setting, and the operator selection actually control the state selection.
• Operator selection is very much like action selection

• a plan is like states with operators.