intelligent agentsweb.ntnu.edu.tw/~tcchiang/ai/1_agents (s).pdf · 12 “agents,”artificial...
TRANSCRIPT
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Artificial Intelligence, Spring, 2010
Intelligent Agents
Instructor: Tsung-Che [email protected]
Department of Computer Science and Information EngineeringNational Taiwan Normal University
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2“Agents,”Artificial Intelligence, Spring, 2010
Outline
Agents & EnvironmentsRationalityTask EnvironmentsAgent StructuresSummary
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3“Agents,”Artificial Intelligence, Spring, 2010
What is AI
Thinking humanly: The cognitive modeling approach
Acting humanly: The Turing Test approach http://www.elbot.com/ http://www.ieee-cig.org/cig-2009/competitions/#2k
Thinking rationally: The “laws of thought”(logical)approach
Acting rationally: The rational agent approach A rational agent is one that acts so as to achieve the
best outcome or, when there is uncertainty, the bestexpected outcome.
It is more general than “laws of thought”approach. It is more amenable than approaches based on human
behavior.
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4“Agents,”Artificial Intelligence, Spring, 2010
Agents & Environments
An agent is anything that can be viewed as perceiving its environment through sensors and acting upon that environment thorough
actuators.
examples: robot agent
perceives through cameras, infrared, etc.acts through arms, legs, etc.
software agentperceives through keyboard, mouse, etc.acts through monitors, speakers, etc.
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5“Agents,”Artificial Intelligence, Spring, 2010
Agents & Environments
The percept sequence is the complete history ofeverything the agent has ever perceived.
An agent’s behavior is described by the agentfunction that maps any given percept sequence toan action. It is an abstract mathematicaldescription.
The agent function is an abstract mathematicaldescription; the agent program is a concreteimplementation.
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6“Agents,”Artificial Intelligence, Spring, 2010
Agents & Environments
Vacuum-cleaner world
What is the right way to fillout the table?
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.2 & 2.3
Tabulation of a simple agent function for the vacuum-cleaner world.
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7“Agents,”Artificial Intelligence, Spring, 2010
Rationality
A rational agent is one that does the rightthing.
The right action is the one that will causethe agent to be the most successful.
We need some way to measure success.
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8“Agents,”Artificial Intelligence, Spring, 2010
Rationality
A performance measure embodies thecriterion for success of an agent’s behavior.The amount of dirt cleaned up in a single 8-hour
shift?The number of clean square at each time step?
The selection of a performance measure isnot always easy.Maximum? Average? Multiobjective decision making/optimization
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9“Agents,”Artificial Intelligence, Spring, 2010
Rationality
What is rational depends on four things: Performance measureAgent’s prior knowledge of the environmentThe actions that the agent can performThe agent’s percept sequence to date
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10“Agents,”Artificial Intelligence, Spring, 2010
Rationality
Definition of a rational agent:
“For each possible percept sequence, a rationalagent should select an action that is expected tomaximize its performance measure, given theevidence provided by the percept sequence andwhatever built-in knowledge the agent has.”
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11“Agents,”Artificial Intelligence, Spring, 2010
Rationality
It depends!
Is this a rational agent?(Dirty then suck; otherwise,move to the other square.)
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.2 & 2.3
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12“Agents,”Artificial Intelligence, Spring, 2010
Rationality
Under the following assumptions, it is.The performance measure awards 1 point for
each clean square at each time step over a“lifetime”of 1000 time steps.
The “geography”of the environment is known apriori. Clean squares stay clean. (knowledge)
The only available actions are Left, Right, Suck,and NoOp.
The agent correctly perceives its location andwhether that location contains dirt.
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13“Agents,”Artificial Intelligence, Spring, 2010
Rationality
In the following situations, it is not.
The performance measure includes a penalty of1 point for each movement. What if the clean squares become dirty again?
The geography is unknown.
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14“Agents,”Artificial Intelligence, Spring, 2010
Omniscience, Learning, &AutonomyWe need to distinguish between rationality
and omniscience. e.g. Final Destination seriesThe rational choice depends only on the percept
sequence to date.Doing actions to modify future percepts
(information gathering) is an important part ofrationality.
Rationality maximizes expectedperformance, while perfection maximizesactual performance.
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15“Agents,”Artificial Intelligence, Spring, 2010
Omniscience, Learning, &AutonomyThe rational agent needs not only to gather
information but also to learn from what itperceives.
Successful agents split the task ofcomputing the agent function into threeperiods:Design phaseActing phase Learning phase
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16“Agents,”Artificial Intelligence, Spring, 2010
Omniscience, Learning, &AutonomyA rational agent should be autonomous –it should
learn what it can do to compensate for partial orincorrect prior knowledge.
Evolution provides animals with enough built-inreflexes so that they can survive long enough tolearn for themselves.
It would be reasonable to provide an agent withsome initial knowledge and the learning ability.
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17“Agents,”Artificial Intelligence, Spring, 2010
Task Environments
Task environments are essentially the“problems”to which rational agents are“solutions.”
In designing an agent, the first step mustalways be to specify the task environmentas fully as possible. PEAS: Performance, Environment, Actuators,
and Sensors.
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18“Agents,”Artificial Intelligence, Spring, 2010
Task Environments
Example: Automated taxi driver
Cameras, sonar,speedometer,GPS, odometer,accelerometer,engine sensors,keyboard
Steering,accelerator,brake, signal,horn, display
Roads,pedestrians,animals,customers,etc.
Safe, fast,legal,comfortable,profits, etc.
Taxi driver
SensorsActuatorsEnvironmentPerformanceMeasure
AgentType
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19“Agents,”Artificial Intelligence, Spring, 2010
Task Environments
Some other examples
Keyboardentry
Displayexercises,suggestions,corrections
Set ofstudents,testingagency
Maximizestudent’sscore on test
InteractiveEnglishtutor
Camera,joint anglesensors
Jointed armand hand
Conveyor beltwith parts;bins
Percentage ofparts incorrect bins
Part-pickingrobot
SensorsActuatorsEnvironmentPerformanceMeasure
AgentType
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20“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Fully observable vs. partially observable Fully observable: the sensors detect all aspects
that are relevant to the choice of action.The agent doesn’t need internal states in fully
observable environments.An environment might be partially observable
due to missing data noise & inaccuracy
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21“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Deterministic vs. stochasticDeterministic: the next state of the
environment is completely determined by thecurrent state and the action executed
The aforementioned vacuum world isdeterministic, whereas taxi driving is stochastic.
Strategic: the environment is deterministicexcept for the actions of other agents
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22“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Episodic vs. sequential Each episode consists of the agent perceiving
and then performing an action. In episodic environments, the choice of action
in each episode depends only on the episodeitself. E.g. agent spotting defective parts on an assembly line
Episodic environments are much simplerbecause the agent does not need to look ahead.
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23“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Dynamic vs. staticDynamic: the environment changes while an
agent is deliberating.Semidynamic: the environment itself does not
change but the performance score does.
Static environments are easy to deal withbecause the agent need not keep looking at theworld nor need it worry about the passage oftime.
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24“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Discrete vs. continuousThe discrete/continuous distinction can be
applied to the state of the environment, the way time is handled, and the percepts and actions of the agent.
Chess has discrete states, percepts, andactions.
Taxi driving has continuous state, time, andactions.
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25“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Single agent vs. multiagentWhen does an agent A treat an object B as an
agent?
“when B’s behavior is to maximize aperformance measure whose valuedepends on A’s behavior”
Chess is a competitive multiagent environment.Taxi driving is partially competitive and
partially cooperative.
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26“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
Part-pickingrobot
Taxi driving
Poker
Chess with aclock
Crosswordpuzzle
AgentsDiscreteStaticEpisodicDetermin-istic
Observ-able
TaskEnvironment
Fully
Fully
D
Strategic
Episodic
Static
Semi
Discrete
Discrete
DiscreteStatic
Single
Single
可見度 掌握度 關聯性 變動度
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27“Agents,”Artificial Intelligence, Spring, 2010
Properties of Environments
In the table on previous slide, the answersare not always fixed. e.g. Exceptions to observability of chess
Some other answers depend on how thetask environment is defined. e.g. Each game can be viewed as an episode, but
decision making within a single game is certainlysequential.
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28“Agents,”Artificial Intelligence, Spring, 2010
Tea Time (Roomba)
Officialhttp://www.youtube.com/watch?v=HqhIMFQNGCg
Unofficialhttp://www.youtube.com/watch?v=D0DEPpFL9OY
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29“Agents,”Artificial Intelligence, Spring, 2010
Agent Structure
Agent = architecture + programThe job of AI is to design the agent
program that implements the agentfunction mapping percepts to actions.
The architecturemakes the percepts from the sensors available
to the program, runs the program, and feeds the program’s action choices to the
actuators.
硬體
軟體
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30“Agents,”Artificial Intelligence, Spring, 2010
Agent Structure
Agent program vs. agent functionAgent program takes the current percept as
input, and agent function takes the entirepercept history.
If the agent’s actions depend on the entirepercept sequence, the agent will have toremember the percepts.
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31“Agents,”Artificial Intelligence, Spring, 2010
Agent Structure
A trivial agent program that keeps track of the percept sequence, and then uses it to index into a table of actions
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.7
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32“Agents,”Artificial Intelligence, Spring, 2010
Agent Structure
Why is the table-driven approach doomedto failure?There will be P + P2 + P3 + … + PT entries, where
P is the number of possible percepts and T is the lifetime of the agent.
e.g. The table of chess has at least 10150 entires.
The daunting size of these tables means no space to store the table no time to create the table no agent could ever learn the table from experience no guidance about how to fill in the table entries
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33“Agents,”Artificial Intelligence, Spring, 2010
Agent Structure
The TABLE-DRIVEN-AGENT doesimplement the desired agent function.
However, the key challenge of AI is to findout
“how to write programs that producerational behavior from a small amount ofcode rather than from a large number oftable entries.”
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34“Agents,”Artificial Intelligence, Spring, 2010
Agent Structure
Four basic kinds of agent programsSimple reflex agentsModel-based reflex agentsGoal-based agentsUtility-based agents
After introducing the above four kinds ofagent programs, we then explain how toconvert all these into learning agents.
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35“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
They select actions based only on thecurrent percept, ignoring the rest of thepercept history.
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.2 & 2.8
Example:
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36“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
The simple reflex vacuum agent program isvery small compared to the table-drivenagent.
Reduction1: Ignoringthe percept history.
Reduction2: Ignoringthe location when it isdirty.
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.3 & 2.8
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37“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
Condition-action rules (if-then rules)if car-in-front-is-brakingthen initiate-braking
Human have many such connections, some of which are learned responses (driving) some of which are innate reflexes (blinking
when something approaches the eye)
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38“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
Schematic diagram
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.9
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39“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
Agent program
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.10
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40“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
They are simple but of very limitedintelligence.
They will work only if the environment is fullyobservable.
Infinite loops are often unavoidable for them inpartially observable environments. e.g. the vacuum agent without a
location sensor
看到黑影就開槍
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.2
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41“Agents,”Artificial Intelligence, Spring, 2010
Simple Reflex Agents
Escape from infinite loop is possible if theagent can randomize its actions.
A randomized simple reflex agent mightoutperform a deterministic simple reflex agent.
The randomized behavior can be rational insome multi-agent environment.
But in most single-agent cases we can do muchbetter with more sophisticated deterministicagents.
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42“Agents,”Artificial Intelligence, Spring, 2010
Model-based Reflex Agents
The most effective way to handle partialobservability is for the agent to
“keep track of the part of the world itcan’t see now –maintain some sort ofinternal state that depends on the percepthistory.”
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43“Agents,”Artificial Intelligence, Spring, 2010
Model-based Reflex Agents
Updating the internal state requires theknowledge about how the world evolves independently of the
agent how the agent’s own actions affect the world
This knowledge about “how the worldworks”is called a model of the world.
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44“Agents,”Artificial Intelligence, Spring, 2010
Model-based Reflex Agents
Schematic diagram
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.11
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45“Agents,”Artificial Intelligence, Spring, 2010
Model-based Reflex Agents
Agent program
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.12
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46“Agents,”Artificial Intelligence, Spring, 2010
Goal-based Agents
Knowing about the current state is notalways enough to decide what to do.
The agent needs some sort of goalinformation that describes situations thatare desirable.
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47“Agents,”Artificial Intelligence, Spring, 2010
Goal-based Agents
Schema diagram
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.13
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48“Agents,”Artificial Intelligence, Spring, 2010
Goal-based Agents
The goal-based decision making isdifferent from the condition-action rulesin that the future is considered.What will happen if I do that?Will that make me satisfied?
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49“Agents,”Artificial Intelligence, Spring, 2010
Goal-based Agents
Reflex vs. goal-basedThe reflex agent brakes when it sees brake
lights.
A goal-based agent could reason that if the carin front has its brake lights on, it will slow down.Given the way the world usually evolves, theonly action that will achieve the goal of nothitting other cars is to brake.
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50“Agents,”Artificial Intelligence, Spring, 2010
Goal-based Agents
Although the goal-based agent appears lessefficient, it is more flexible because
“the knowledge that supports its decisionsis represented explicitly and can bemodified.”
The goal-based agent’s behavior can easily be changed togo to a different location, but the reflex agent’s ruleswork only for a single destination.
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51“Agents,”Artificial Intelligence, Spring, 2010
Goal-based Agents
Sometimes goal-based selection is nottrivial when the agent has to find a longsequence of actions to achieve the goal.
Search and planning are devoted to this.
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52“Agents,”Artificial Intelligence, Spring, 2010
Utility-based Agents
Goals alone are not really enough togenerate high-quality behavior in mostenvironments.Goals just roughly distinguish between “happy”
and “unhappy.”A performance measure should reflect the
degree of happiness.
Utility functions tradeoff between conflicting objectives likelihood of success
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53“Agents,”Artificial Intelligence, Spring, 2010
Utility-based Agents
Schema diagram
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.14
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54“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
Learning is now the preferred method forcreating state-of-the-art systems.Manual programming is too slow and tiring. Learning allows the agent to operate in initially
unknown environments and to become morecompetent.
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55“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
Four conceptual components learning element: making improvement performance element: aforementioned agent critic: evaluating how the agent is doing problem generator: suggesting actions that will
lead to new and informative experiences
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56“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
Schema diagram
Artificial Intelligence: A Modern Approach, 2nd ed., Figure 2.15
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57“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
The design of the learning elementdepends very much on the design of theperformance element.
Given an agent design, learning mechanismcan be constructed to improve every partof the agent. how the world evolveswhat my actions do if-then rules etc.
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58“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
The critic is necessary because thepercepts themselves provide no indicationof the agent’s success.The performance standard distinguishes part of
the incoming percept as a reward (or penalty).
The problem generator is responsible forsuggesting actions that will lead to new andinformative experiences.
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59“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
Example: the automated driver
Make a quickleft turnacross threelanes
Shockinglanguage
Bad action
Try out thebrakes ondifferent roadsurfaces
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60“Agents,”Artificial Intelligence, Spring, 2010
Learning Agents
Learning is a process of modification ofeach component to bring them into closeragreement with the available feedbackinformation.The simplest case is to learn from the percept
sequence.Observation of pairs of successive states of
the environment can allow the agent to learn“How the world evolves.”
…
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61“Agents,”Artificial Intelligence, Spring, 2010
Summary
An agent is something that perceives andacts in an environment.
The agent function specifies the action inresponse to any percept sequence.
A rational agent acts to maximize theexpected value of the performancemeasure given the percept sequence andcandidate actions.
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62“Agents,”Artificial Intelligence, Spring, 2010
Summary
A task environment specifies theperformance measure, environment,actuators, and sensors.
Task environments vary along severaldimensions.
The agent program implements the agentfunction.
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63“Agents,”Artificial Intelligence, Spring, 2010
Summary
There exists a variety of agent-programdesigns. simple reflex agentsmodel-based agents goal-based agents utility-based agents
All agents can improve their performancethrough learning.