A gap in GOFAI Identity Uncertainty On(Block003,Block004) - PDF document

A gap in GOFAI Identity Uncertainty On(Block003,Block004) Colour(Block003,Purple) Colour(Block004,Green) CS 289, Fall 2004 A gap in GOFAI Outline The GOFAI gap Urns and balls Freeway traffic Citations Closed(Door001) Colour(Door001,Brown) CS 289, Fall 2004 CS 289, Fall 2004 A gap in GOFAI A gap in GOFAI On(Block001,Block002) On(Block005,Block006) Colour(Block001,Purple) Colour(Block005,Purple) Colour(Block002,Green) Colour(Block006,Green) CS 289, Fall 2004 CS 289, Fall 2004

A gap in GOFAI Urns and balls N balls, prior distribution P ( N ) True colours C 1 , . . . C N , identical priors P ( C i ) k observations, observed colours O = O 1 , . . . , O k Assignment ω = { B 1 , . . . , B m } where each B i is the set of observations purportedly generated by a single real ball: Sensor model P ( O j | C ω j ) Closed(Door002) Colour(Door002,Brown) CS 289, Fall 2004 CS 289, Fall 2004 A gap in GOFAI Counting the balls P ( N | O ) = αP ( N ) P ( O | N ) � = αP ( N ) P ( ω | N ) P ( O | N, ω ) ω = αP ( N ) � P ( ω | N ) P ( O | ω ) ω � 1 m � k N ! � � � � = αP ( N ) P ( O j | C i ) P ( C i ) ( N − m )! N ω i = 1 C i O j ∈ B i On(Block007,Block008) Colour(Block007,Green) Colour(Block008,Purple) CS 289, Fall 2004 CS 289, Fall 2004 Urns and balls Counting the balls contd. Two qualitatively distinct cases: ♦ No identical balls ⇒ converge to true N as k → ∞ ♦ Identical balls possible ⇒ all multiples of minimal N possible as k → ∞ 2 draws 1 0.5 10 draws 0.9 0.45 20 draws 0.8 0 draws 0.4 30 draws 5 draws 0.7 0.35 40 draws Probability Probability 0.6 10 draws 0.3 100 draws 20 draws 0.5 0.25 1000 draws 40 draws 0.4 0.2 0.3 0.15 0.2 0.1 Repeat: 0.1 0.05 0 0 shake the urn, pick out one ball, examine colour, replace 0 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Number of balls in urn Number of balls in urn How many balls are there in the urn? CS 289, Fall 2004 CS 289, Fall 2004

Citation matching Data association [Lashkari et al 94] Collaborative Interface Agents, Yezdi Lashkari, Max Metral, and Pattie Maes, Proceedings of the Twelfth National Conference on Articial Intelligence, MIT Press, Cambridge, MA, 1994. Metral M. Lashkari, Y. and P. Maes. Collaborative interface agents. In Conference of the American Association for Artificial Intelligence, Seattle, WA, August 1994. Are these descriptions of the same object? This problem is ubiquitous with real data sources ( record linkage ) Compute link travel times, origin/destination counts = ⇒ resolve identity of vehicles CS 289, Fall 2004 CS 289, Fall 2004 Large databases: CiteSeer MCMC for Data Association Unavailability of exact key matches can make large databases useless Russell w/4 Norvig Each MCMC state is a complete assignment history CS 289, Fall 2004 Large databases: CiteSeer MCMC for Data Association Unavailability of exact key matches can make large databases useless Russell w/4 Norvig MCMC transitions are local exchanges (so π ( x ′ ) /π ( x ) is easy) Russell S, Norvig P (1995) Artificial Intelligence: A Modern Approach, Prentice Hall Series in Artificial Intelligence. Englewood Cliffs, New Jersey Stuart Russell and Peter Norvig, Artificial Intelligence: A Modern Ap- proach, Prentice Hall, 1995. Russell S.; Norvig, P. Articial Intelligence - A Modern Approach. Prentice-Hall International Editions, 1995. Polynomial-time convergence for two cameras [PROR 99; JS 97] R-B Decayed MCMC filter: 1000 vehicles, 10 cameras in real time Russell S.J., Norvig P., (1995) Artificial Intelligence, A Modern Ap- proach. Prentice Hall. CS 289, Fall 2004 S. Russell and P. Norvig. Articial Intelligence, a Modern Approach. Prentice Hall, New Jersey, NJ, 1995.

Stuart Russell and Peter Norvig. Artificial intelligence: A modern N.J. Nilsson. Stuart Russell and Peter Norvig artificial intelligence: a approach. Prentice-Hall Series on Artificial Intelligence. Prentice-Hall, modern approach (book review). Artificial Intelligence, 82:369–380, Englewood Cliffs, New Jersey, 1995. 1996. S. Russell and P Norvig. Artifical Intelligence: a Modern Approach. Russell, S. & Norvig, P., An Introduction to Artificial Intelligence: A Prentice Hall, 1995. Book Details from Amazon or Barnes & Noble Modern Approach, Prentice Hall International, 1996. Stuart Russell and Peter Norvig. Articial Intelligence: A Modern Ap- S. Russell, P. Norvig. Artician Intelligence. A modern approach. Pren- proach. Prentice Hall, 1995. tice Hall, 1995. S. J. Russell and P. Norvig. Artificial Intelligence, a modern approach. Prentice Hall, Upper Saddle River, New Jersey 07458, 1995. Stuart Russell and Peter Norvig. Artificial Intelligence: A Modern Approach. Prentice Hall, 1995. Contributing writers: John F. Canny, Stuart Russell and Peter Norvig. Artificial Intelligence. A modern Jitendra M. Malik, Douglas D. Edwards. ISBN 0-13-103805-2. approach. Prentice-Hall, 1995. Stuart Russell and Peter Norvig. Artificial Intelligence: A Mordern S. J. Russell and P. Norvig. Articial Intelligence: A Modern Approach. Approach. Prentice Hall, Englewood Cliffs, New Jersey 07632, 1995. Prentice Hall. 1995. In Proceedings of the Third Annual Conference on Evolutionary Pro- S. Russell and P. Norvig, Artificial Intelligence A Modern Approach gramming (pp. 131–139). River Edge, NJ: World Scientific. Russell, Prentice Hall 1995. S. Russell and P. Norvig. Introduction to Artificial Intelligence . S.J., & Norvig, P. 1995. Artificial Intelligence, A Modern Approach. Prentice Hall, 1995. Englewood Cliffs, NJ: Prentice Hall. John Wiley. Russell, S., & Norvig, P. (1995). Artificial Intelligence: Stuart Russell and Peter Norvig. Artficial Intelligence: A Modern A Modern Approach. Prentice-Hall, Inc. Approach. Prentice-Hall, Saddle River, NJ, 1995. Stuart Russell and Peter Norvig: Artifcial Intelligence A Modern Ap- Stuart Russell and Peter Norvig. Articial Intelligence a modern ap- proach, Englewood Clioes, NJ: Prentice Hall, 1995. proach. Prentice Hall series in articial intelligence. Prentice Hall, Upper Saddle River, New Jersey, 1995. In Scherer, K.R. & Ekman, P. Approaches to Emotion, 13–38. Hills- dale, NJ: Lawrence Erlbaum. Russell, S.J. and Norvig, P. 1995. Arti- Chapter 18 Artificial Intelligence: A Modern Approach by Stuart Rus- ficial Intelligent: A Modern Approach. Englewood Cliffs, NJ: Prentice sell and Peter Norvig, Prentice-Hall, 2000. Hall. S. Russell and P. Norvig. A modern, agent-oriented approach to in- Rosales E, Forthcoming Masters dissertation, Department of Com- troductory artificial intelligence. ACM SIGART Bulletin, 6(2):24–26, puter Science, University of Essex, Colchester UK Russell S and Norvig 1995. P (1995) Artificial Intelligence: A Modern Approach. Prentice Hall: Englewood Cliffs, New Jersey. Dynamics of computational ecosystems. Physical Review A 40:404– 421. Russell, S., and Norvig, P. 1995. Artificial Intelligence: A Modern S. Russell and P. Norvig (1995) Artificial Intelligence; A Modern Ap- Approach. Prentice Hall. proach, Prentice Hall, New Jersey. S. Russell, P. Norvig: Artificial Intelligence – A Modern Approach, S. Russell and P. Norvig. Articial Intelligence. A Modern Approach. Prentice Hall, 1995. Prentice-Hall, 1995. ISBN 0-13-360124-2. Stuart J. Russell and Peter Norvig. Articial Intelligence: A Modern Russell, S. & Norvig, P. (1995) Artificial Intelligence: A Modern Ap- Approach, chapter 17. Number 0-13-103805-2 in Series in Articial praoch (Englewood Cliffs, NJ: Prentice-Hall). Book Details from Ama- Intelligence. Prentice Hall, 1995. zon or Barnes & Noble Stuart J. Russell and Peter Norvig. Articial Intelligence A Modern Stuart Russell and Peter Norvig. AI: A Modern Approach. Prentice Approach. Prentice Hall, Englewood Cli s, New Jersey, USA, 1995. Hall, NJ, 1995. 32 S. Russell, P. Norvig. Artificial Intelligence: A Modem Approach. Morgan Kaufmann Publishers. Russell, S., and Norvig, P. 1995. Arti- Prentice- Hall, Inc., 1995. ficial Intelligence: A Modern Approach. Prentice Hall. 391-414. Russell SJ, Norvig P ( Stuart J. Russell and Peter Norvig. Articial Intelligence: AModern Approach,chapter 17. Number 0-13-103805-2 in Series in Articial Russell and Peter Norvig, ”Artificial Intelligence - A Modern Approach Intelligence. Prentice Hall, 1995. (AIMA)”, pp. 33 W. Shavlik and T. G. Dietterich, eds., Morgan Kaufmann, San Ma- Stuart Russell and Peter Norvig: Artificial Intelligence: A Modern teo, CA. Russell, S. and Norvig, P. (1995). Artificial Intelligence - A Approach, Prentice-Hall, 1994. Morden Approach. Englewood Cliffs, NJ: Prentice-Hall.