人工智能Nilson版-英文课件-Chap05.pptVIP

(c) 2000, 2001 SNU CSE Biointelligence Lab State Machines Chapter 5 A State Machine The State Machine The feature vector represents the state of the environment. The S-R agent computes an action appropriate for that environmental state. Sensory limitations of the agent preclude completely accurate representation of environmental state by feature vectors. The accuracy can be improved by taking into account previous history. The representation of environmental state at the previous time step The action taken at the previous time step The state machine must have memory. The Boundary-Following Robot The sensory-impaired version This robot can sense only the cells immediately to its north, east, south, and west. The sensory inputs are only (s2, s4, s6, s8). Even with this impairment, this robot can still perform boundary-following behavior if it computes the needed feature vector from its immediate sensory inputs, the previous feature vector, and the just-performed action. The Sensory-Impaired Robot The features wi = si, for i = 2, 4, 6, 8 w1 has value 1 if and only if at the previous time step w2 had value 1 and the robot moved east. Similar for w3, w5, w7 The production system gives wall-following behavior. An Elman Network An Elman network A special type of recurrent neural network The Elman network can learn how to compute a feature vector and an action from a previous feature vector and sensory inputs. For the boundary-following robot Inputs: (s2, s4, s6, s8) + the values of the eight hidden units one time step earlier Hidden units: eight hidden units, one for each feature Outputs: four output units, one for each action The Elman Network This Elman network can be trained by ordinary backpropagation. Iconic Representations Representing the world By features By data structures – iconic representation The agent computes actions appropriate to its task and to the present modeled state of the environment. The sensory information is first used to update the iconic mode