Planning under Uncertainty in Dynamic Domains - Carnegie Mellon ...

List of Tables2.1 The policy iteration algorithm : : : : : : : : : : : : : : : : : : : : : : 152.2 The value iteration algorithm : : : : : : : : : : : : : : : : : : : : : : 163.1 Summary of the prodigy 4.0 planning algorithm. Each decisionpoint is a potential backtracking point in the algorithm. : : : : : : : : 243.2 An annotated trace of prodigy 4.0 which shows a sequence of searchtree nodes created to produce the candidate plan shown in Figure 3.3.Each node except n5 is a child of the node in the line above. The textin italics has been added to the trace output for clarity of presentation. 263.3 The initial state and goal description. Here t and f stand for \true"and \false". : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 384.1 An annotated trace of Prodigy, showing the use of a protection node(n14) to add a precondition to the step at node n13 which will stop itsconditional eect from taking place. : : : : : : : : : : : : : : : : : : : 464.2 Algorithm for B-prodigy, based on prodigy 4.0. Steps which onlyappear in B-prodigy are shown in bold font. : : : : : : : : : : : : : 484.3 The aws uncovered by the plan critic for the rst candidate plan forthe example problem. For each aw a set of desired values is computedfrom the preconditions of the child action node, and the probabilitymass of this set is show. The explanations column shows parent nodevalues that can lead to an undesired value. : : : : : : : : : : : : : : 615.1 Algorithm to construct the belief net to evaluate a plan. : : : : : : : 766.1 Overview of the analogical replay procedure combined with B-prodigy. 896.2 Operator schemas in the test domain. : : : : : : : : : : : : : : : : : : 907.1 The objects and goal for the example problem used to demonstrate aconditional plan formed under scarce resources. : : : : : : : : : : : : 987.2 The initial state for the example problem used to demonstrate a conditionalplan formed under scarce resources. : : : : : : : : : : : : : : 987.3 Prodigy's solution to the example problem, ignoring inference rules. : 99ix