15-887*: Planning, Execution, and Learning
Schedule, Notes, Readings
Fall 2014
- Monday, September 8: Introduction
- Lecture Notes
- Points to remember from the discussion in class:
- No assigned readings besides lecture notes.
- Wednesday, September 10: Representation and Search
- Lecture Notes
- Points to remember from the discussion in class:
- No assigned readings besides lecture notes.
- Monday, September 15: Plan-Space Planning
- Lecture Notes
- Points to remember from the discussion in class:
- Search space is space of partial plans;
search actions modify plans (refine them)
- Partial-order planners work by adding causal links from effects
of one action to precondition of another, and then by eliminating
threats. Threats can be eliminated by promotion, demotion, or
separation. Backtracking occurs if a threat cannot be eliminated.
- Use of Least Commitment -- delaying choices of temporal
constraints and parameter bindings unless forced.
- Partial-order planners can easily (and often optimally) deal
with goal interactions
- Modal Truth Criterion: A proposition p is necessarily true at a step s
iff two conditions hold: There is a step t equal or necessarily previous
to s in which p is necessarily asserted; and for every step C possibly before s and every
proposition q possibly codesignating with p which C denies, there is a step W necessarily
between C and s which asserts r, a proposition such that r and p codesignate whenever p
and q codesignate.
- Readings:
- Wednesday, September 17: State-Space Linear and Nonlinear Planning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, September 22: Graph-Based and Sat-Based Planning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, September 24: Comparison of Planners - State, Plan, Graph
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, September 29: Heuristic Planning I
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, October 1: Heuristic Planning II
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, October 6: Explanation-Based Learning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, October 8: Planning under Uncertainty I - Conditional and Conformant Planning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, October 13: Planning under Uncertainty II - Determinization and Replanning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, October 15: Planning under Uncertainty III - Short-Sighted Probabilistic Planning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, October 20: Markov Decision Processes
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, October 22: Reinforcement Learning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, October 27: Planning by Analogy and Policy Reuse
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, October 29: Path Planning
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, November 3: POMDPs I
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, November 5: POMDPs II
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, November 10: Oracular POMDPs (OPOMDPs), and Humans as Observation Providers in POMDPS (HOP-POMDPs)
- No handouts for lecture notes - please use readings.
- Points to remember from the discussion in class:
- Readings:
- Wednesday, November 12: Learning Planners
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Monday, November 17: Multi-Robot State Estimation and Planning
- Lecture Notes I
- Points to remember from the discussion in class:
- Coordination between robots can be represented as multi-robot plays.
- Readings:
- Wednesday, November 19: Multi-Robot Planning with Transfers
- Monday, November 24: Execution Architectures
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, November 26: Thanksgiving, No Class
- Monday, December 1: Execution Monitoring and Diagnosis
- Lecture Notes
- Points to remember from the discussion in class:
- Readings:
- Wednesday, December 3: REID+MMV - Review
mmv@cs.cmu.edu
August 17, 2014