(이건명) 인공지능 강의노트

1
1.
Images : google.com, movie posters
1.
(, intelligence)
,

(, Artificial Intelligence)

(Turing test)
(operational definition)
:
(TuringAward)
ACM .
$250,000 (Intel, Goolge ) Image : wikipedia
2

(Artificial Intelligence)
Dartmouth Conference (1956, Dartmouth University, USA)
John McCarthy AI
(19272011)
AI@50 conference (2005) : Trenchard More, John McCarthy, Marvin Minsky,

Oliver Selfridge, Ray Solomonoff
Image : www.dartmouth.edu, wikipedia

(, Artificial Intelligence)
, , ,
(Bellman, 1978)

(Rich & Knight, 1991)
(Kurzweil, 1990)
(Poole et al. 1998)
, ,
(Wilson, 1992)
(Nisson, 1990)
3

(strong AI)

, , , , , (self-awareness),
(sentiment), (sapience), (conscience)

(weak AI, narrow AI)

(Chinese room thought experiment)

(The Chinese Room Thought Experiment)
John Searle (1980)

(1932-)

(intelligent)
Image : wikipedia, http://www.mind.ilstu.edu/curriculum/searle_chinese_room/searle_chinese_room.php
4
2.
1960
1946 , ENIAC
,
LISP (McCarthy, 1958)
Advice Taker (axiom) (McCarthy)
Perceptron (Rosenblatt, 1958)
- (means-ends analysis) (Newell & Simon, 1958)
GPS(General Problem Solver)
Allen Newell Herbert Simon

Frank Rosenblatt
(1927-1992) (1927-1992)
(19281971)
, , 1978
Image : wikipedia

- (means-ends analysis)
(state)
(goal state)
(operator, )
5

- (means-ends analysis) cont.
.
Source: udacity

1970 1980

(expert system)

1970 1980
MYCIN, PROSPECTOR, DENDRAL
(expert system shell)
Prolog
(logic)
6

MYCIN

PROSPECTOR

DENDRAL

Edward Feigenbaum

1980 1990

(multi-layer Perceptron, MLP) :
(error backpropagation)
(fuzzy theory)
: ,

(Bayesian network)
(Markov random field)
(Support Vector Machine, SVM)
7

2000
(agent)
(semantic web)
(machine learning)
(data mining)
(deep learning, )

Siri, Now, MS Cortana
IBM Watson
: Boston Dynamics BigDog, Atlas

Eugene Goostman
13 (chatbot)
60
(2014.6)
30 5 : 33%

8

(AlphaGo)
DeepMind
2016.3.9~3.15 5 4 1

( : TV)
3.
(search)
(space) ,

(breadth-first search), (depth-first
search)

A*

mini-max , - (pruning),
9

(knowledge representation)

IF-THEN (rule)
(frame)
(semantic net)
(logic) : (propositional logic), (predicate logic)

: RDF, OWL
: , ,

(inference)

(forward inference)
(backward inference)

(Bayesian theorem)
(marginalization)
,
10

(machine learning)
(task)

, ,
(supervised learning)
() () ,

97+16
1+2 = 3
4+8 = 12
10+13 = 24

23+52 = 75

43+101 =144
14+31 = 45
123+15 = 138
113

(machine learning) cont.
(unsupervised learning)

11

(machine learning) cont.
(reinforcement learning)

(expected reward)
(policy)
(policy)
Image source : RMI MUNOS

RAPPORT ANNUEL INRIA 2008

(planning)

http://www.youtube.com/watch?v=1u4PR-pfghU Image : spir.al, gamma.cs.unc.edu
12

(agent)

BDI(Belief-Desire-Intention)
Belief ( ), Desire(), Intention(,
)
(software agent)
(chatting bot) : Siri, Tay
(physical agent)
(robot)
4.
(knowledge-based system)
,
(expert system)

, ,
13

(natural language processing)

: () + () + ()
, , ,
, ,
,

(data mining)
, ,

,

(visualization)
www.businessnewsdaily.com
14

university

(computer vision)

http://www.cis.upenn.edu/~jshi/ http://www.alternet.org/ http://www.cs.tau.ac.il/~wolf/OR2/
15

(intelligent robots)
(robotics)
, ,
,

Image : http://www.dailymail.co.uk/
5.

Siri Now

(voice recognition)
(natural language processing)
(information retrieval)
(recommendation)
hey Siri
16

cont.
Echo
(hands-free)
Alexa
, , ,
Cortana
MS
,
Viv
Siri Dag Kittlaus Adam Cheyer 2016.5
, ,

IBM (Watson)

, , ,

(unstructured data)

Jeopardy!
, ,
(2016)
17

(Driverless Car)

2009 2016 3 : 2.4 km
2016.2.14
2020

Tesla Motors, Volvo, GM, Daimler, Ford, Audi, BMW, Hyundai
image : www.entrepreneur.com

(robotics)
Jibo
, , ,

[YOUTUBE / JIBO]
Pepper
SoftBank
18

(robotics)
2

Mobileye

19

Goggles

blog.intelligistgroup.com

(machine translation)
Google Translate (translate.google.com)
20

(Tay)
10
18~24
Twitter 2016.3.23 16
(personalized conversation)
,

CPS(cyber-physical system)

IoT

21
6.

(LAWS: Lethal Autonomous Weapon Systems)

National Robotics Engineering Center of Carnegie Mellon University http://www.briefreport.co.uk/news/taranis-uk-armed-drone-prototype-revealed-2218569.html

cont.

Autonomous Vehicles Need Experimental Ethics: Are We Ready for Utilitarian Cars?
[Bonnefon, Shariff, Rahwan, 2015.10]
22

cont.
3
[1942]
1. ,
.
Isaac Asimov
2. ,
(1920-1992) .
3. ,
.
[Lin, Abney, Bekey 2012]

'(moral code)

OpenAI
2015.12
( , X, ) 10

Elon Musk
(1971-)
7.
(singularity)

Vernor S. Vinge The Coming Technological Singularity
(1993)
(superhuman)

R. Kurzweil The singularity is near 2045

23

,

, , , , ,

, , , , ,
24
- I
1
1.
(, search)
(solution) (space) ,

- --(tic-tac-toe)
8- (traveling
salesperson problem, TSP)
8-(queen)
(, solution)

(state)

(world)

(state space)

(initial state)

(goal state)

2

(state space graph)

:
:
m:
c:
(solution)
(path)

image : Gillian Mosley
2.
(blind search)

(depth-first search, DFS)

, (backtracking, )

3

8-

2 8 3 1 2 3
1 6 4 8 4
7 5 7 6 5
2 8 3 2 8 3
1 6 4 1 4
7 5 7 6 5
2 8 3 2 8 3 2 3
6 4 1 4 1 8 4
1 7 5 7 6 5 7 6 5
8 3 2 8 3 8 3 2 8 3 2 3
2 6 4 6 4 2 1 4 7 1 4 1 8 4
1 7 5 1 7 5 7 6 5 6 5 7 6 5
8 3 2 3 2 8 3 2 8 3 8 3 2 8 3 1 2 3
2 6 4 6 8 4 6 4 6 7 4 2 1 4 7 1 4 8 4
1 7 5 1 7 5 1 7 5 1 5 7 6 5 6 5 7 6 5
8 3 8 6 3 2 3 2 3 2 8 2 8 3 2 8 3 2 8 3 8 3 8 1 3 2 8 3 2 8 3 1 2 3
2 6 4 2 4 6 8 4 6 8 4 6 4 3 6 4 5 6 7 4 6 7 4 2 1 4 2 4 7 4 7 1 4 8 4
1 7 5 1 7 5 1 7 5 1 7 5 1 7 5 1 7 1 5 1 5 7 6 5 7 6 5 6 1 5 6 5 7 6 5

(breadth-first search, BFS)

4

8-

2 8 3
1 6 4
7 5
2 8 3 2 8 3 2 8 3
1 6 4 1 4 1 6 4
7 5 7 6 5 7 5
2 8 3 2 8 3 2 3 2 8 3 2 8 3
6 4 1 4 1 8 4 1 4 1 6
1 7 5 7 6 5 7 6 5 7 6 5 7 5 4
8 3 2 8 3 8 3 2 8 3 2 3 2 3 2 8 2 8 3 2 8 3 2 8
2 6 4 6 4 2 1 4 7 1 4 1 8 4 1 8 4 1 4 3 1 4 5 1 6 1 6 3
1 7 5 1 7 5 7 6 5 6 5 7 6 5 7 6 5 7 6 5 7 6 7 5 4 7 5 4
8 3 2 3 2 8 3 2 8 3 8 3 2 8 3 1 2 3 2 3 4 2 8 2 8 3 2 8 3 23 2 8 3 2 8
2 6 4 6 8 4 6 4 6 7 4 2 1 4 7 1 4 8 4 1 8 1 4 3 1 4 5 1 6 1 8 6 1 5 6 1 6 3
1 7 5 1 7 5 1 7 5 1 5 7 6 5 6 5 7 6 5 7 6 5 7 6 5 7 6 7 5 4 7 5 4 7 4 7 5 4
8 3 8 6 3 2 3 2 3 2 8 2 8 3 2 8 3 2 8 3 8 3 8 1 3 2 8 3 2 8 3 1 2 3
2 6 4 2 4 6 8 4 6 8 4 6 4 3 6 4 5 6 7 4 6 7 4 2 1 4 2 4 7 4 7 1 4 8 4
1 7 5 1 7 5 1 7 5 1 7 5 1 7 5 1 7 1 5 1 5 7 6 5 7 6 5 6 1 5 6 5 7 6 5

(iterative-deepening search)

0:
5


0:
1: ,,


0:
1: ,,
2: ,,,,,,
6


0:
1: ,,
2: ,,,,,,
3: ,,,,,,,,,,,,,,


0:
1: ,,
2: ,,,,,,
3: ,,,,,,,,,,,,,,
4: ,,,,,,,,,,,,

10 ,
11%

(bidirectional search)

3.
(informed search)
(heuristic search)
, , , A*
(heuristic)
(Eurisko, , )
,

.

( )
8- 8-

: 4

(hill climbing method)
(local search), (heuristic search)

(local optimal solution)
10

(best-first search)

2 8 3
4 1 6 4
7 5
2 8 3 2 8 3 2 8 3
5 1 6 4 3 1 4 5 1 6 4
7 5 7 6 5 7 5
2 8 3 2 3 2 8 3
3 1 4 3 1 8 4 4 1 4
7 6 5 7 6 5 7 6 5
8 3 2 8 3
3 2 1 4 4 7 1 4
7 6 5 6 5
8 3
3 2 1 4
7 6 5

(beam search)

Image : america.pink
11

A*

n
n g(n)
h(n)

:
: (heuristic function)
n

8- A*
2 8 3

0+4 1 6 4
7 5
2 8 3 2 8 3 2 8 3
1+5 1 6 4 1+3 1 4 1+5 1 6 4
7 5 7 6 5 7 5
2 8 3 2 3 2 8 3
2+3 1 4 2+3 1 8 4 2+4 1 4
7 6 5 7 6 5 7 6 5
8 3 2 8 3 2 3 2 3
3+3 2 1 4 3+4 7 1 4 3+2 1 8 4 3+4 1 8 4
7 6 5 6 5 7 6 5 7 6 5
1 2 3
4+1 8 4
7 6 5
1 2 3 1 2 3
5+0 8 4 5+2 7 8 4
7 6 5 7 6 5

12
4.
(game tree)

--(tic-tac-toc), , ,

(lookahead)
O O O
X X X X O X X X O X
O O O
X X
X X ... X X
O O O

mini-max (mini-max algorithm)
MAX

MIN

(minimum)-(maximum)

6 MAX
3 6 5 MIN
5 3 6 7 5 8 MAX
5 4 3 6 6 7 5 8 6 MIN
5 6 7 4 5 3 6 6 9 7 5 9 8 6 MAX
13

- (prunning)

, MAX MIN

-(cut-off) : MIN ,

- : MAX ,

3
6 MAX
5
3 6 5 MIN
5 3 6 7 5 MAX
5 7
4 3 6 6 7 5 MIN
5 6 7 4 5 3 6 6 9 7 5 9 8 6 MAX

(Monte Carlo Simulation)
(random sample)
,

,

images: www.fansshare.com, www.casinonewsdaily.com
14

(Monte Carlo Tree Search, MCTS)
Coulom (06)
Chaslot, Saito & Bouzy (06)
Slide from Sylvain Gelly
15

16

Kocsis & Szepesvari (06)

17

18

(Monte Carlo Tree Search, MCTS)
(search space) (random sampling) ,

4
(selection)
(expansion)
(simulation) :
(back propagation)
()
image : wikipedia

cont.
(selection) : (tree policy)

UCB(Upper Confidence Bound) : UCB
, :
:
: ( )
(exploitation) (exploration)

()
19

cont.
(expansion)

. (move)
(simulation)
(default policy)
(random moves)
(backpropagation)

()

cont.

,
confidence bound ,
()
20

cont.
,

,

(move)
,

()

,
(rollout policy network)
0.6
: () :

(value network)

Image : Nature
21

CPU GPU
Image : Nature
22
- II
1
5.
(constraint satisfaction problem)
(combinatorial solution)
. 8-(queen)
(backtracking search)

. 4-(queen)
2

(constraint propagation)

A B C D A B
{1 , 2 , 3, 4} {1 , 2 , 3 , 4}

C D
{ 1 , 2 , 3, 4} {1 , 2 , 3 , 4}

(constraint propagation)

A B C D A B
{1 , 2 , 3, 4} { , , 3 , 4}

C D
{ , , , } { ,2 , , }
A B C D
A B
{1 , 2 , 3, 4} {1 , 2 , 3 , 4}

C D
{ 1 , 2 , 3, 4} {1 , 2 , 3 , 4}
3

4 (four color problem)
, 4

4
6.
(optimization)

(objective function)

(combinatorial optimization)
(TSP)

(,,,,,,)
(,, , ,,, )
5

(genetic algorithm, GA)
(John Holland, 1975)
(evolutionary computation)
, (genetic programming),
(evolutionary strategy)

(chromosome) (gene)
(fittest survival)/(natural selection)

(population)
(generation)

(crossover)
(mutation)
image : medicalhealthinsurance.info

cont.

(candidate solution)
(problem)
(quality)
Yes

No

6

cont.
(candidate solution)
(chromosome)
1 0 1 1 0 1 0 0 0 0 1 0 1 0 1
(0.6 0.8 . . . 1.2 0.9)
(E2 E5 E3 . . . E11 E7)
(population)

(fitness function)
(solution)

cont.
(selection)

. 1 : 10, 2 : 5, 3 : 15
(genetic operator) :
(crossover)
(mutation)
7

cont.

(generation)
(elitism)

Image : MICHAEL NEGNEVITSKY, Artificial Intelligence

(meta heuristics)
(optimal solution) (suboptimal
solution)

(memetic algorithm)
(particle swarm optimization, PSO)
(ant colony)
(Tabu search)
(simulated annealing)
(Harmonic search)

image source: Tarek Hegazy
8

(function optimization)
(objective function) ,

Find ,
which minimizes , 1
(objective function)
,
2 2 0 1
,
2 0 0

, 1,0

(constrained optimization) (feasible solutions)
(constraints)

(constraintx)
SVM
9

(constrained optimization) (feasible solution)

(constraint)
(Lagrange) :

: (feasible solution)
(dual function)

, (complementary slackness)

(constrained optimization) cont.
10

(regression)
(, approximation)
(least mean square method)
(error function) (energy function)

(gradient descent method, )

(gradient)

:
: (0 1
11

(gradient descent method)
,
(local minima)

conjugate gradient method
12
- I
1
1.

(data)

(information)

(knowledge)

(wisdom)

(, knowledge)
(understanding)

,

(, tacit knowledge)
,
(, explicit knowledge)

(procedural knowledge)

(declarative knowledge)
,

, , , , ,
2
2.
(rule)
~, ~ ~, ~
IF-THEN

. ,

, ,
:
: ,
/ : , .

IF THEN
IF THEN

(rule)
IF THEN
IF THEN
IF trafficLight = green THEN action = cross

IF trafficLight= red THEN action = stop
IF

(conditional part, antecedent)
THEN

(conclusion, consequent)
3

AND OR
IF <1> AND <2> AND <3> THEN <>
IF <1> OR <2> OR <3> THEN <>

IF <>
THEN <1>
AND <2>
AND <3>

IF
THEN

IF AND
THEN

IF AND
THEN
4

(strategy)

IF
THEN AND 1
IF 1 AND
THEN AND 2
(heuristic)

IF AND PH 6 AND
THEN
5
3.
(frame)
(M. Minsky, 1927~2016)
(slot)

.
frame-name Computer
frame-type Class (frame
default Intel (frame-name Computer)
(frame-type class)
data-type string
CPU (CPU (default Intel)
require Intel AMD ARM (data-type string)
SPARC (require (Intel AMD ARM SPARC)))
default Windows (OS (default Windows)
OS (data-type string)
data-type string
(memory (data-type integer))
memory data-type integer
(warranty (default 3years)
warranty default 3years (HDD (default 1TB))
HDD default 1TB (price (data-type integer))
(stock (default in-stock)))
price data-type integer
stock default in-stock

(slot)
(attribute)
(slot name) (slot value)
:
:
(slot value)
(facet) (demon)
6

Cont.
(facet)

value : (, , )
data-type :
default : ( )
require :
default Intel
data-type string
CPU
require Intel AMD
ARM SPARC
memory data-type integer

Cont.
(demon)
(procedure)

if_needed : (, )
if_added :
if_removed :
if_modified :
HDD value 512GB

price if-needed look-up-the-list
stock if-needed ask-for-vendor
7

(class)
(class)
(instance)

(hierachy)

(inheritance)

:
Computer
frame-name Computer
(frame
(frame-name Computer) frame-type Class
(frame-type class) default Intel
(CPU (default Intel) data-type string
(data-type string) CPU
(require (Intel AMD ARM SPARC))) require Intel AMD ARM
SPARC
(OS (default Windows)
(data-type string) default Windows
OS
(memory (data-type integer)) data-type string
(warranty (default 3years) memory data-type integer
(HDD (default 1TB))
(price (data-type integer)) warranty default 3years
(stock (default in-stock))) HDD default 1TB
price data-type integer
stock default in-stock
8

:
Ultra-Slim-Notebook
(frame
(frame-name Ultra-Slim-Notebook)
(frame-type instance (class Computer))
(CPU (value ARM))
(OS (value Android))
(memory (value 4G)) frame-name Ultra-Slim-Notebook
(HDD (value 512GB))
frame-type instance (class Computer)
(price (if-needed look-up-the-list)
(stock (if-needed ask-for-vendor))) CPU value ARM
OS value Android
memory value 4G
(warranty 3years ) ? warranty value 3years
HDD value 512GB
price if-needed look-up-the-list

stock if-needed ask-for-vendor
(object)

9

vs

,

4.
(, logic)
,

(Aristotle, BC384-BC322)
(syllogism)
(George Boule, 1815-1864)

(propositional logic)
(Gottlob Frege, 1848-1925)

(predicate logic)
10
4.1
4.1
(propositional logic)
(, proposition)
,
. ()
1+1 = 3. ()
. ( )
P, Q
(truth value)

,
11

(primitive proposition)
(statement)
(compound proposition)

.
P
Q
, P Q

(logical expression)

, T F,
, , , ,
12

(literal)
P P
(clause)

(conjunctive normal form, CNF)

(disjunctive normal form, DNF)

(well-formed formula, wff)

13

(truth table)
,
(interpretation)

T, F, T
( )( )=F

,
. => , F
() (denotation)

(model)
(T) (F)
( )( ) : T, F, T
, ,
n , T F
, 2n
14

(valid logical expression)
(T)
(, tautology)
.
= T : = T
= F : = T
(, contradiction)

.
= T : = F
= F : = F

(satisfiable)

. ( )( )
= T, = T, = F
(unsatisfiable)

.
15

(equivalence relation)

(CNF)
16

(logical entailment)
: (wff) . = { , }
: . =
(T) , (T)
= (logically entail)
= (logically follow)
= (logical consequence)
:
{ , }
,

,

(, inference)
(inductive inference)
(generalization)

(deductive inference)

()
p q
p : (premise)
q : (conclusion, consequence)
17

(inference rule)

(modus ponens)
(modus tollens)
(syllogism)

cont.
(resolution)

, ,

,

P q, P r qr
(resolvent)
18

(sound)

.
, .
(complete)

.

(theorem proving)
(axiom)
,
(theorem)

(constructive proof)

(resolution refutation)
(negation) ,
,
19

False
20
21

Part II
1
4.2
(predicate logic)
,
,
(, predicate)
+

(T) (F)
.
Student(John)
Friend(John, Mary)
Father(Adam, )
2

(existential quantifier) (universal quantifier)

John

(function)
,

(term)

: , ,
x y Horse(x) Dog(y) Faster(x,y)
y Greyhound(y) (z Rabbit(z) Faster(y,z))
Horse(Harry)
Rabbit(Ralph)
y Greyhound(y) Dog(y)
x y z Faster(x,y) Faster(y,z) Faster(x,z)

(first-order predicate logic, FOL)

x P(x)
(high-order predicate logic)

,

S S(x)
gx (f(x) = h(g(x))
(a) Whoever can read is literate. ( )

(b) Monkeys are not literate. ( )
(c) Some monkeys are intelligent. ( )
(d) Some who are intelligent cannot read. ( )

CNF
1.
2.

3.
(T)
(Skolem function)

s(x)
Q(x, s(x)) x (magic
function)

5

(unification)
(resolution) ,

(d)
(d) , (d)
6

Horn (Horn clause)
, A(x) B(x) C(x)

Prolog
Horn
father(noah, shem).
father(noah, ham).
father(shem, elam).
father(shem, arphaxad).
father(arphaxad, caina).
grandfather(X,Y) :- father(X,Z), father(Z,Y).
:- grandfather(X,Y).
(backtracking)
5.
7

(semantic network)
(binary relation)

(node)
, , , ,
(edge)

8

(relationship)
is-a
(, is-a(,)),
(, is-a(,))

(transitive)
has-a
-
part-of
has-a(X,Y) part-of(Y,X)

(relationship) (object)
(reification)
9

(inheritance)

. ?
can(,)
is-a
can(, ) ,

(default value, )

. ?
10

. 1 2 1 , 2 1

donor gift
donee
1 2 1
owner object

:
1=, 2=, 1=
:

(slot)
frame-name frame-name
frame-type Class frame-type Class
is-a is-a
can can
cannot has-a
11

,

and, or, implies

6.
(script)

(event)

(track)

(role)

(props)

(entry condition)

(scene)

(result)

12

.
7. RDF
13
RDF
(ontology)
()
(domain) , ,
, ()
(vocabulary)
RDF

Amazon.com
dmoz(Directory of Mozilla, www.dmoz.org)

14
RDF
cont.
UNSPSC(United Nations Standard Products and Services Code)

WordNet(wordnet.princeton.edu)

RDF
cont.
UMLS(Unified Medical Language System)

SNOMED-CT(Systematized Nomenclature of Medicine - Clinical

Terms)
, ,
LOINC(Logical Observation Identifiers Names and Codes)

GO(Gene Ontology)

FOAF (Friend of a friend)

SIOC (Semantically-Interlinked Online Communities Project)

, ,
15
RDF
cont.
SNOMED-CT (common cold)
RDF
cont.
FOAF (Friend of a friend)
http://xmlns.com/foaf/spec/images/foafspec.jpg
16
RDF
cont.
SIOC (Semantically-Interlinked Online Communities Project)
https://www.w3.org/TR/hcls-sioc/
RDF

RDFS(Resource Description Framework Schema)

RDF

RDF(Resource Description Framework)

(metadata, )
(specification)
17
RDF

RDF(Resource Description Framework)
(sentence)
++
(; resource) (, , attribute)
(value)
abc kdhong@abc.org
http://www.w3.org/2000/10/swap/pim/contact#Person
http://www.w3.org/1999/02/22-rdf-syntax-ns#type
http://www.abc.org/People/EM/contact#me http://www.w3.org/2000/10/swap/pim/contact#fullName
http://www.w3.org/2000/10/swap/pim/contact#mailbox
mailto:kdhong@abc.org
http://www.w3.org/2000/10/swap/pim/contact#personalTitle
RDF

RDF(Resource Description Framework) Conf.

http://www.abc.org/People/EM/contact#me, http://www.w3.org/2000/10/swap/pim/contact#fullName,
http://www.abc.org/People/EM/contact#me, http://www.w3.org/2000/10/swap/pim/contact#mailbox,
mailto:kdhong@abc.org
http://www.abc.org/People/EM/contact#me, http://www.w3.org/2000/10/swap/pim/contact#personalTitle,
http://www.abc.org/People/EM/contact#me, http://www.w3.org/1999/02/22-rdf-syntax-ns#type,
http://www.w3.org/2000/10/swap/pim/contact#Person
XML
<?xml version="1.0"?>
<rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:contact="http://www.w3.org/2000/10/swap/pim/contact#">
<contact:Person rdf:about="http://www.abc.org/People/EM/contact#me">
<contact:fullName></contact:fullName>
<contact:mailbox rdf:resource="mailto:kdhong@abc.org"/>
<contact:personalTitle></contact:personalTitle>
</contact:Person>
</rdf:RDF>
18
RDF

SPARQL
RDF
SQL
PREFIX contact: <http://www.w3.org/2000/10/swap/pim/contact#>

PREFIX rdf: < http://www.w3.org/1999/02/22-rdf-syntax-ns#>
SELECT ?name ?email
WHERE { ?person rdf:type contact:Person.
?person contact:name ?name.
?person contact:mbox ?email. }
RDF

RIF (Rule Interchange Format)

Prefix(ex <http://example.com/2008/prd1#>)
(* ex:rule_1 *)
Forall ?customer ?purchasesYTD (
If And ( ?customer#ex:Customer
?customer[ex:purchasesYTD->?purchasesYTD]
External(pred:numeric-greater-than(?purchasesYTD 5000)) )
Then Do ( Modify(?customer[ex:status->"Gold"]) ) )
$5,000 Gold
19
RDF

(semantic web)

Tim bernes-Lee

(tag)
XML

RDF

RDF

(interoperability)

20
RDF

Protg
GUI
21

Part III
1
8.

(weak implication) (vague
association)
ex. IF() THEN( )
(certainty degree)
(Bayesian theorem)

(natural language) (vague)
(imprecise)
ex. (frequently), (big), (heavy)
(fuzzy theory)
2

cont.
(incomplete) (missing)
(unknown) ,
(approximate reasoning)

(contradictory opinion) (conflicting
knowledge)

8.1
(certainty factor)
(rule) (fact) [ 1,1]
1 ( ), 1 ( )
cf
: IF THEN cf( )
: cf( )
: cf( )

1.0 : (definitely not)
0.8 : (almost certainly not)
0.6 : (probably not)
0.4 : (maybe not)
0.2 ~ 0.2 : (unknown)
0.4 : (maybe)
0.6 : (probably)
0.8 : (almost certainly)
1.0 : (definitely)
3

IF A THEN B
A

B
IF A and B THEN C
A min ,
B
C
IF A or B THEN C
A
B
max ,
C

cont.
IF sky is clear
AND the forecast is sunny
THEN the action is wear sunglasses 0.8
sky is clear = 0.9,

the forecast is sunny = 0.7
wear sunglasses min 0.9, 0.7 0.8 0.7 0.8 0.56
IF sky is overcast
OR the forecast is rain
THEN the action is take an umbrella { 0.9}
sky is overcast 0.6

the forecast is rain 0.8
take an umbrella max 0.6,0.8 0.9 0.8 0.9 0.72
4

cont.

IF A THEN B

A 1
IF C THEN B
C
2
B
8.2
(probability)

(relative frequency probability)
(frequentist probability)

(subjective probability)
(degree of belief)
5

( joint probability)
, , ,

.
A : , B :
, 0.25

(conditional probability)
|

: 8
: 3
, 1/36 1

6/36 6
6

(Bayesian theorem)
(posterior probability)
(likelihood)
(posterior probability)
(evidence)

,
:
(likelihood of sufficiency)

(likelihood of necessity)

(prior probability)
7

:
(prior odds)

(posterior odds)

8.3

(word)

(crisp set, classical set) X

x X (x X), X (x X)
,
1, 0 (membership)
8

()
vs
(degree)
(fuzzy set)

(Fuzzy Set)
(collection)
(
)
(membership degree) [0,1]
image : Michael Negnevitsky

(membership function)
9

(linguistic term)
. (short), (average), (tall)


(fuzzy rule)
,

IF wind is strong
THEN sailing is good
low high
IF project_duration is long
THEN completion_risk is high
IF speed is slow
THEN stopping_distance is short
10

(fuzzy inference)

: x = x1, y=y1
11

(defuzzification)

(defuzzification)
12

.
IF service is poor OR food is rancid THEN tip is low
IF service is good THEN tip is average
IF service is excellent OR food is delicious THEN tip is generous
poor good excellent rancid delicious cheap average generous
service food tip

.
IF service is poor OR food is rancid THEN tip is low
IF service is good THEN tip is average
IF service is excellent OR food is delicious THEN tip is generous
13

Part IV
1
9.
(probabilistic graph model)
(probability distribution)
,
()

(probabilistic graph model)
.

(random variable)
(A; alarm)
(B; burglary)
(E; earthquake)
(N; neighbor call)
Image : www.thefreedictionary.com
2

(E), (B), (A), (N)

?
?

?
?
Image : www.thefreedictionary.com

(factorization)
(independence)
,
(conditional independence)
, |
(factorization)
,
, , , , , ,
3

E B
, , , , , , )
A
, ,
N
, )
, , ,
,
0.8 0.9 0.9 0.3
0.1944

(Bayesian network)
(directed
graph)
:
:
, , , , , , ) , )
E B
4

(Markov network)
(undirected graph)
(Markov random field)
(factor)
10.

1
1 . . . .
(regression analysis)
(neural network)
SVM(support vector machine)
(deep learning)
5
11.
(rule-based system)

(knowledge-based system)
(expert system)
6
11.1

(forward chaining, )

(backward chaining, )

R1: IF ?x THEN ?x .
R2: IF ?x THEN ?x .
R3: IF ?x THEN ?x .
R4: IF ?x AND ?x THEN ?x .
R7: IF ?x AND ?x AND ?x THEN ?x .
R8: IF ?x AND ?x AND ?x AND ?x
THEN ?x .
THEN ?x .
F1: .
F2: .
F3: .
F4: .
F5: .
F6:
R1: IF ?x THEN ?x .
R2: IF ?x THEN ?x .
R3: IF ?x THEN ?x .
R7: IF ?x AND ?x AND ?x THEN ?x .
THEN ?x .
THEN ?x .
F1: .
F2: .
F3: .
F4: .
F5: .
F6: .
11.2

(rule) :
(fact) :
(rule base)

(production memory)
(working memory)

,

(inference engine)
,
- -
9

(inference engine)
(pattern matching)

(conflict set)
,
(conflict resolution)

(user interface)

(external interface)

(inference engine)

(rule priority)

(recency, depth)

(first match, breath)

(specificity)

10

cont.
(rule priority)
1: 1 ( 100)
IF
AND
THEN Number_1
AND (ampicillin)
AND (gentamicin)
AND 1
2: 2( 90)
IF
AND
THEN Number_2
AND (penicillin)
AND 2

cont.
(specificity)

1
IF
AND
AND
THEN
2
IF
THEN
11

cont.
(recency, depth)
(data most recently entered)

1
IF [03/25 08:16 PM]
THEN
2
IF [03/26 10:18 AM]
THEN

(fact)
(object) (frame)
.
(monkey (name ) (age 3) (room ))

Jess
(defrule ruleBirthday
?c <- (monkey (name cheetah) (age ?old) (room ?where) (birthdate ?day))
(calendar (date ?day))
=>
(bind ?newAge (+ ?old 1))
(retract ?c)
(assert (monkey cheetah ?newAge ?where)))
12

JESS (Java Expert System Shell)

,
Rete (lightweight)
Jess Java API
Java Jess

Eclipse

JESS cont.
Java Jess engine
import jess.*;
public class PricingEngine {

private Rete engine;
private WorkingMemoryMarker marker;
private Database database;
public PricingEngine(Database aDatabase) throws JessException {

// Create a Jess rule engine
engine = new Rete();
engine.reset();
// Load the pricing rules

engine.batch("pricing.clp");
// Load the catalog data into working memory

database = aDatabase;
engine.addAll(database.getCatalogItems());
// Mark end of catalog data for later

marker = engine.mark();
}
.
}
13

NPC (non-player character)
IF enemy visible and my health is < very-low-health-value (20%)

OR
his weapon is much better than mine
THEN propose retreat
image : Quake 2

(business logic) (Business
Rule)
,
,

14
15
2016-08-04
1
2016-08-04
Part I
2
2016-08-04
1.
(, machine learning)
(task)
(To improve the
performance of a system with experience or example data at some task, to
adjust the structure and/or parameters of system. Tom Mitchell, 1997)

(To design algorithms for inferring unknowns from knowns)
()
, ()

PlayTennis

(training data)
?
?
3
2016-08-04

PlayTennis cont.
Outlook
Sunny Rain
Overcast
Humidity Yes Wind
High Mild Weak Strong
No Yes Yes No
Outlook Temperature Humidity Wind PlayTennis

Sunny Hot Mild Weak ?
Rain Hot High Weak ?
(heuristics)

Image : MNIST data
4
2016-08-04

(deductive learning)
(deductive inference)
(inductive learning)
(examples) (generalization) (pattern)
(model)

(Occams razor)

(97,16)
(1,2) -> 3
(4,8) -> 12
(10,13) -> 24
(23,52) -> 75
(43,101) ->144
(14,31) -> 45
(123,15) -> 138 113

(Occams razor)
5
2016-08-04
2.
(supervised learning)
()-()

(unsupervised learning, )

(semisupervised learning)

, (reward)
(action)
2.1
6
2016-08-04

(classification)
(class)

(decision boundary)
(classifier)

(decision tree)
K- (K-nearest neighbor, KNN)
(deep learning)
(Support Vector Machine, SVM)
(AdaBoost)
(random forest)
(probabilistic graphical model)
7
2016-08-04

(generalization)

(training data)
(classifier)

(test data)

(validation data)

(overfitting) (underfitting)

,

(underfitting) (good fitting) (overfitting)
8
2016-08-04

(validation data)

(accuracy)

= ( )/( )

9
2016-08-04
K- (k-fold cross-validation)
k
,

(imbalanced data)

. A 99% ,
A 99% .

(re-sampling)

10
2016-08-04


(regression analysis) cont.

:
( )2
( )
11
2016-08-04

(overfitting) (underfitting)

()

()

(overfitting)
(model complexity)
= + ()*( )
(penalty)
12
2016-08-04
2.2 (unsupervised learning)

(unsupervised learning)

(structure), (hierarchy)
(hidden user group)

(log) (usage pattern)
http://www.youtube.com/watch?v=rhallml-
(clustering) juk
(density estimation)
(dimensionality reduction)

(clustering)

(segmentation)
image : Pedro Felzenswalb
13
2016-08-04

cont.
(hard clustering)

. k-means
(fuzzy clustering)

1
. k-means

(underlying structure)

, (anomaly, outlier)
:
(preprocessing)

(density estimation)
(class)

-1
-2
-2 -1 0 1 2 3 4 5
14
2016-08-04

cont.
(parametric)

: (Gaussian)
(Mixture of Gaussian)
(nonparametric)
,

: (histogram)
http://i.stack.imgur.com/pE0Xu.gif

(dimension reduction)

2, 3
(curse of dimensionality)
15
2016-08-04

cont.

2 4
20 50

cont.
(Principle Component Analysis, PCA)
(projection)

(covariance matrix) (eigenvalue)
(eigenvector)
16
2016-08-04

(outlier)

(noise)
,

(novelty detection)

(outlier) cont.
(point outlier)

(contextual outlier)

) 25 , 25
(collective outlier)

17
2016-08-04

(outlier) cont.
(fraud detection system, FDS)

(intrusion detection system, IDS)

2.3
(environment)
(reward)
(state) (action)
(trial and error)

()
,
... ...
18
2016-08-04

cont.
(policy)
(state) (action)
.

(policy)
Image source : RMI MUNOS

RAPPORT ANNUEL INRIA 2008

- cont.

(logistics)
(robotics)

19
2016-08-04
2.4
(semi-supervised learning)
(unlabeled data)

(labeled data) ,

(smoothness, )

(cluster)

(manifold)

Image: ludovicarnold.altervista.org/
20
2016-08-04
21

Part II
1
3. (decision tree)
(decision tree)

(internal node) :
(edge) :
(terminal node) : (class),
Outlook
Sunny Rain
Overcast
Humidity Yes Wind
No Yes Yes No
IF Outlook = Sunny AND Humidity = High THEN Answer = No

Outlook Temperature Humidity Wind PlayTennis

Sunny Hot Mild Weak ?
Rain Hot High Weak ?
(decision tree)
(decision tree)

1. (spliting attribute)
2. (subtree)
3.
A A
v1 v2 vn A
...
T1 T2 Tn
2
(decision tree)
(decision tree)

Outlook
Sunny Rain
Overcast
Humidity Yes Wind
No Yes Yes No
(decision tree)
(decision tree)

Temperature
Cold Hot
moderate
Outlook Outlook Wind
Sunny Rain Sunny Rain Strong Weak

Overcast Overcast
Yes Yes Wind Wind Yes Humidity No Humidity
Strong Weak Strong Weak High Normal High Normal
No Yes Yes No Wind Yes Outlook Yes
Strong Weak Sunny Rain

Overcast
No Yes No Yes null
3
(decision tree)
(decision tree)

4
(decision tree)
(decision tree)

(class)

Pattern Outline Dot Shape
1 vertical dashed no triangle
2 vertical dashed yes triangle
3 diagonal dashed no square
4 horizontal dashed no square
5 horizontal solid no square
6 horizontal solid yes triangle
7 vertical solid no square
9 diagonal solid yes square
11 vertical solid yes square
12 diagonal dashed yes square
13 diagonal solid no square
14 horizontal dashed yes triangle
5
(decision tree)

9 (square)
5 (triangle)
(class probability)
(entropy)
(decision tree)
horizontal Pattern vertical

diagonal
6
(decision tree)
solid
dashed Outline
(decision tree)
no yes
Dot
7
(decision tree)

diagonal
(decision tree)

diagonal
no Dot yes dashed solid

Outline
8
(decision tree)

Pattern
horizontal vertical
diagonal
Dot square Outline
no yes dashed solid
square triangle triangle square
(decision tree)
(information gain)

. ,

(information gain ratio)
(Gini index)
9
(decision tree)
(decision tree)


diagonal
10
(decision tree)
vs
A |v(A)| IG(A) GainRatio(A)

Pattern 3 0.247 0.156
Outline 2 0.152 0.152
Dot 2 0.048 0.049
(decision tree)
11
(decision tree)
Gini

diagonal
(decision tree)

A Gain(A) GainRatio(A) GiniGain(A)

Pattern 0.247 0.156 0.058
Outline 0.152 0.152 0.046
Dot 0.048 0.049 0.015
12
(decision tree)

ID3
(categorical)
. PlayTennis, /
C4.5

ID3
C5.0
C4.5
CART

(decision tree)

Pattern Outline Dot Area
1 vertical dashed no 26
2 vertical dashed yes 30
3 diagonal dashed no 48
4 horizontal dashed no 46
5 horizontal solid no 62
6 horizontal solid yes 23
7 vertical solid no 43
8 vertical dashed no 36
9 diagonal solid yes 38
10 horizontal solid no 48
11 vertical solid yes 48
12 diagonal dashed yes 62
13 diagonal solid no 44
14 horizontal dashed yes 30
13
(decision tree)
Pattern
horizontal vertical
diagonal
Dot 45.0 Outline
no yes dashed solid
47.7 26.5 30.0 45.5
(decision tree)
14
(decision tree)
Area
26
30
48
46
62
23 Area
43
36 horizontal 12.15 5
38
vertical 9.36 5
48
48 diagonal 5.77 4
62
14
44
30
4.
(ensemble classifier)

, (voting method)
(weighted voting method)
(bootstrap)
(resampling with
replacement)
(bagging, bootstrap aggregating)

(boosting)
15

(bagging, bootstrap aggregating)
,
,

1 1

2 2

3 3

(random forest)

(boosting)
k

( )

( )
3
(AdaBoost)
16
5. k-
k- (k-nearest neighbor, KNN)
(, ) ,

k
(query)

k
k-
k-nearest neighbor (KNN) cont.

(Euclidian distance)
17
k-

(indexing)
R-, k-d
k-
k

(majority voting) :

: k
(weighted sum) :
18
k-

(lazy learning)
6.
(clustering)

(similarity) ,
k-means

1.
2.
3.
4.
5. 2-4
19
: K-means 1
k1

k2
3
k3
: K-means 2
k1
k2

k3
20
: K-means 3
k1 k1
k2

k3
k2
k3
: K-means 4
k1

k3
k2
21
: K-means 5
k1
k3
k2
: K-means 6
k1
k3
k2
22
: K-means 7
k1
k2

k3
: K-means
23
: K-means

https://sites.google.com/site/myecodriving/k-means-ju-lei-fen-xi
7.
24

cont.

Pattern Outline Dot Shape
2 vertical dashed yes triangle
3 diagonal dashed no square
4 horizontal dashed no square
6 horizontal solid yes triangle
7 vertical solid no square
9 diagonal solid yes square
11 vertical solid yes square
12 diagonal dashed yes square
13 diagonal solid no square
14 horizontal dashed yes triangle
25

Part III
1
8.
(neural network, artificial neural network)

(neuron)
(, dendrite) :

(, axon) :
.
(, synapse) :

McClulloch & Pitts, 1943

(Perceptron)
(Rosenblatt, 1957)
f(s)
1
y
f(s) 1

2

(Perceptron)
OR
f(s)

(Perceptron)
(linearly separable problem)
x2
x1
(linearly inseparable problem)
XOR(exclusive OR)
Minsky & Papert 1969
3

(multilayer Perceptron, MLP)

f2(x)
f1(x)
+ +
1 f(s)
1
f1(x)
1 0.5 1 y
1 1
f3(x)
1 1
x1
1 1
x2 1
f2(x)
f(s)
(step) (sigmoid)
4

MLP
Image source : Pascal Vincent

MLP

(hidden layer)

MLP
(Error back propagation algorithm, Backprop algorithm)
6

MLP
cont.
1 0 1
-1.0 -1.0
-2.0 -0.009 -0.044
-0.004 0.119
z1 0.758
-3.0 -0.009 2.0
1.0 x1 1 o = f(x) y = 1.0
1.0 -0.005
-0.018
-0.004
2.0
1.0 0.953
z2 -0.042
2.0 x2 2.0
2
-0.008
9.
(deep learning, , , )

( , deep neural network)

: googLeNet (google)
8

(vanishing gradient problem)
,
,
http://neuralnetworksanddeeplearning.com/chap6.html

(pre-training)

(layer)

(gradient) 0
(sigmoid) (linear function)
http://neuralnetworksanddeeplearning.com/chap6.html
9

(original data) (handcrafted feature)
(feature vector)

()

(Deep Neural Network)

(deep learning, , , )

DBN(Deep Belief Network, DBN)
(autoencoder)
(Convolutional Neural Network, CNN)
LSTM RNN(Long short-term memory RNN)
10
9.1 Deep Belief Network
h1 h2 h3
1
bi
W =(wij)4x3
bj

() 1
v1 v2 v3 v4
Deep Belief Network
h1 h2 h3
1
bi
W =(wij)4x3
bj

() 1
v1 v2 v3 v4
11
Deep Belief Network
h1 h2 h3
1
bi
W =(wij)4x3
bj

() 1
v1 v2 v3 v4
Deep Belief Network

DBN cont.
DBN
(layer-wise
learning)
RBM
RBM
RBM
12
9.2
(authoencoder)

cont.

V1 W1 V1 V1 V1
V2 V2
V2 V2
W2
V3 V3
Vi

Vi
Wm

Vn Vn Vn Vn
1 2 3 4 5
W1 V1
W1
V2
W2 W2

Vi

Wm Wm

Vn
3 (feature extraction)
13
9.3 CNN
(Convolutional Neural Network, CNN)
:
:
,
CNN
11 10
1 110 00
1 01 1 0 1 4 3 4
01
0 10
1 00 10
11 1 01
0 0 1 0 2 4 3
00
1 01
0 10 1
11 10 10
1 1 0 1 2 3 4
01
0 00
1 0 10
11 1 01
0
01 11
0 10
1 01
0 01
1 1 2 3
4 6 6 8 6 8
3 1 1 0 3 4
1 2 2 4
14
CNN
CNN
3
red
green
blue
image : cs231n.stanford.edu
CNN
CNN
(local connection)

(shared weight)

(pooling)

images: www.kdnuggets.com
15
CNN
CNN
images: www.kdnuggets.com http://parse.ele.tue.nl/cluster/2/CNNArchitecture.jpg
CNN
CNN
Image : Nature
16
CNN
9.4 LSTM-RNN
RNN(Recurrent Neural Network, )

RNN

(vanishing gradient problem)
Image : Nature
17
LSTM-RNN
LSTM-RNN (Long Short-Term Memory Recurrent Neural Network)
LSTM(Long Short-term memory) cell

(input), (output), (forget)
(gate)

(language model), ,
image: Alex Graves

, .
, .
,
.
, .
, .
, ,
.
18

Caffe
Torch
Theano
RNNLIB
Cuda-ConvNet
Pylarn
DL4J
TensorFlow

CUDA
Apache Spark
19

Part IV. (SVM)
1
10.1 SVM
Support Vector Machine (SVM)
Vladimir Vapnik
(decision
boundary) (binary classifier)
x2 h2
h3 h1
h3 h2
x1
(margin)

(support vector)

SVM

(hyperplane)
4
2
10.2 SVM
SVM

x2

x1
10.3 SVM

3
SVM
SVM
KKT(Karush-Kuhn-Tucker)
(complementary slackness)
(dual function)
SVM
SVM
(dual function)
4
SVM
SVM
SVM
SVM
(primal problem)
w b (dual problem)
5
SVM
SVM
(dual problem)
(quadratic programming)
SVM
(quadratic programming)
quadratic problem solver

MatLab/Octave quadprog( )
Python solvers.qp( )
6
SVM
(quadratic programming) cont.
(canonical form)
= quadprog(H, f, A, a, B, b)
SVM
SVM
(quadratic programming) cont.
= quadprog(H, f, A, a, B, b)
SVM
7
SVM
12
11
10
1
0 2 4 6 8 10
SVM
MatLab/Octave cont.
f = -ones(6,1)
A = -eye(6)
a = zeros(6,1)
B = t'
b = [0]

= quadprog(H+eye(6)*0.001, f, A, a, B, b)
12
10
0
0 1 2 3 4 5 6 7 8 9 10
8
SVM
12 12
10 10
8 8
6
6
4
4
2
2
0
0 1 2 3 4 5 6 7 8 9 10
0
0 1 2 3 4 5 6 7 8 9 10
10.4 SVM
9
SVM
SVM

SVM
SVM
- cont.

(dual problem)
(upper bound)
10
10.5 SVM
SVM (linear SVM)

(high-dimensional mapping)

10
x2
2
-2

-5 -4 -3 -2 -1 0 1 2 3 4 5
x1
SVM
cont.
XOR
y3
x2
1
1
y1
1
x1
1 y2

(generalization)
(margin)

(kernel trick)
11
SVM
SVM
SVM
SVM
SVM
12
SVM
(kernel function)
(polynomial kernel)
RBF(radial basis function)
(hyperbolic tangent)
SVM

13
SVM
SVM
SVM
14
15

Part V.
1
11.1
,
(state) (reward)
(action) (policy)

sk rk ak
rk+1
sk+1
... ...

(MDP)

image : Richard S. Sutton
11.2
4
11.3
a
r
5

(value function)
s s,a
r
a
r
6
11.4
a
r
11.5
a
r

...
Q-learning
,
MDP
MDP
Q-learning

9
Q-learning

(Monte Carlo method)
(temporal difference learning, TD-learning)
(policy gradient algorithm)
10
13.

Public libraries in C, C++, Java, etc.
WEKA
R package
Python
MatLab or Octave
11
Weka
Weka
Waikato Environment for Knowledge Analysis
Waikato Data Mining/Machine Learning

SAS, E-Miner
, , , , ,

ARFF, CSV, XRFF, binary
URL, JDBC SQL import

Java import
Weka
ARFF(Attribute-Relation File Format)
(iris)
12
Weka
J48
Weka
13
Java Weka
14

1
1. (planning)
(planning)

c
c pickup(x) b
a b putdown(x,y) a
/
(initial state) (operator) (goal state)
(plan) : pickup(c) putdown(c, floor) pickup(b)

putdown(b, a) pickup(c) putdown(c,b)

(initial state) (description)
(goal state)
(action)
(agent)
(autonomous) (intelligent)

, (robot)
(how) , (goal, what)

(planning)
2
2.
- (means-ends analysis)
.
Source: udacity
Image : spir.al, gamma.cs.unc.edu
3

(state space graph)
-
:
:
image : Gillian Mosley

8-
2 8 3 1 2 3
1 6 4 8 4
7 5 7 6 5
2 8 3 2 8 3
1 6 4 1 4
7 5 7 6 5
2 8 3 2 8 3 2 3
6 4 1 4 1 8 4
1 7 5 7 6 5 7 6 5
8 3 2 8 3 8 3 2 8 3 2 3
2 6 4 6 4 2 1 4 7 1 4 1 8 4
1 7 5 1 7 5 7 6 5 6 5 7 6 5
8 3 2 3 2 8 3 2 8 3 8 3 2 8 3 1 2 3
2 6 4 6 8 4 6 4 6 7 4 2 1 4 7 1 4 8 4
1 7 5 1 7 5 1 7 5 1 5 7 6 5 6 5 7 6 5
8 3 8 6 3 2 3 2 3 2 8 2 8 3 2 8 3 2 8 3 8 3 8 1 3 2 8 3 2 8 3 1 2 3
2 6 4 2 4 6 8 4 6 8 4 6 4 3 6 4 5 6 7 4 6 7 4 2 1 4 2 4 7 4 7 1 4 8 4
1 7 5 1 7 5 1 7 5 1 7 5 1 7 5 1 7 1 5 1 5 7 6 5 7 6 5 6 1 5 6 5 7 6 5
O O O
X X X X O X X X O X
O O O
X X
X X ... X X
O O O
5

(policy)

(steel sheet blending)
, A*
image : S. K. Gupta, et al. 1998
6

(bridge game)
4
Bridge Baron
Us:East declarer, West dummy
Finesse(P1; S) Opponents:defenders, South & North
Contract:East 3NT
On lead:West at trick 3 East:KJ74
West: A2
LeadLow(P1; S) FinesseTwo(P ; S) Out: QT98653
2
PlayCard(P1; S, R1) EasyFinesse(P2; S) StandardFinesse(P2; S) BustedFinesse(P2; S)

West 2
(North Q) (North 3)
StandardFinesseTwo(P2; S) StandardFinesseThree(P3; S) FinesseFour(P4; S)
PlayCard(P2; S, R2) PlayCard(P3; S, R3) PlayCard(P4; S, R4) PlayCard(P4; S, R4)

image: S. Smith et al.
North 3 East J South 5 South Q 1998

(Mars Exploration Rover: MER)

image : NASA
7

(scheduling)
(project management)
(military operations planning)
(information gathering)
(resource control)
3.

(action) (deterministic)
(nondeterministic)

(state variable) (discrete) (continuous)

(current state)

(initial state)

(action) (duration)
8

cont.
,

,
(reward function)
(, )
(cooperative) (selfish)
,

4.

(classical planning)
(Markov Decision Process, MDP)
(Partially Observable Markov Decision

Process, POMDP)
(multi-agent)
9

(classical planning problem)

.
, ,
.
.
(world)

(Markov Decision Process, MDP)
(nondeterministic),

(Discrete-time Markov decision

processes, discrete-time MDP)

.
.
(reward function) .
.
10

(Markov Decision Process, MDP) cont.
image : Dana Nau

(partially observable Markov decision process, POMDP)

()
, :
, :
image : Dana Nau
11

(multi-agent planning)

http://gamma.cs.unc.edu/research/crowds/
5.
(planner)

(domain-specific planner)
(domain-independent planner)
(configurable planner)
12

(domain-specific planner)

image : Dana Nau

(domain-independent planner)

(classical planning)

(state-space planning)
(plan-space planning)
13

(configurable planner)
(hierarchical task network, HTN)
6.

STRIPS, PDDL
(state variable)
(world)

(action)

(state space)

14

STRIPS(STanford Research Institute Problem Solver)
SRI International Richard Fikes Nils Nilsson (1971)
(planner)

(first-order predicate logic)
(state)
(positive literal)

STRIPS cont.
(goal)

X :
15

STRIPS cont.
(action)
, , precondition(), effect()

precondition effect
precondition ()

effect ()

add-list , ()
delete-list

STRIPS cont.
: ClimbUp
Precondition:

Effect:

16

PDDL(Planning Domain Definition Language)

Drew McDermott (1998)
(International Planning Competition, IPC; ipc.icaps-

conference.org) ,
(object),
(predicate), , ,

domain : ,
problem : , ,

PDDL cont.
domain BNF
<domain> ::= (define (domain <name>) [<require-def>] [<types-def>]:typing
[<constants-def>] [<predicates-def>] [<functions-def>]:fluents
[<constraints>] <structure-def>*)
Problem BNF
<problem> ::= (define (problem <name>) (:domain <name>) [<require-def>]
[<object declaration>] <init> <goal>
[<constraints>]:constraints [<metric-spec>]:numeric-fluents
[<length-spec>])
17

PDDL cont.
. strips-gripper4
gripper-strips
objects
init
goal
(define (problem strips-gripper4)

(:domain gripper-strips)
(:objects rooma roomb ball1 ball2 ball3 ball4 left right)
(:init (room rooma) (room roomb)
(ball ball1) (ball ball2) (ball ball3) (ball ball4)
(gripper left) (gripper right)
(at-robby rooma)
(free left) (free right)
(at ball1 rooma) (at ball2 rooma) (at ball3 rooma) (at ball4 rooma))
(:goal (and (at ball1 roomb) (at ball2 roomb) (at ball3 roomb))))

PDD cont.
. Pick-up
effect not STRIPS delete-list
add-list
?
(define (domain gripper-strips)

(:action pick-up :parameters (?x ?y ?z)
:precondition
(and (BALL ?x) (ROOM ?y) (GRIPPER ?z)
(at-ball ?x ?y) (at-robby ?y) (free ?z))
:effect
(and (carry ?z ?x)
(not (at-ball ?x ?y)) (not (free ?z)))))
18
6.


STRIPS
(planning graph method)

GraphPlan
(hierarchical planning)
HTN
6.1
(state space)
(node) : (world)
(edge) : (transition) (action)
(primitive action)
(operator) =
19

s1 s0
put
take
location 1 location 2 location 1 location 2
move2 move1 move2 move1
s3 s2
put
take
location 1 location 2 location 1 location 2
unload load
s4 s5
move2
move1
location 1 location 2 location 1 location 2 image : Dana Nau

(Forward Search)

(Breadth-first search)
(Depth-first search)
: A*
a1 s1
a4 s4
s0 s2 s
a2 s5
a5 g
a3
s3
20

(Backward Search)

g1 a1
g4 a4
g2 g0
a2
s0 a5
g5
a3
g3

STRIPS

,
effect

precondition
precondition ,
effect
precondition

g3 a3 g11
a1
g6 a6 g4 g1
a4 g2
g21 a2
g7 a7 g5 a5 g22
21

STRIPS
(world)
2 : R1, R2
: D
: I. R1
: B. R2
(goal)
I B R2
(predicate)
InRoom(x, r) : x r .
NextTo(x, t) : x t .
Status(d, s) : d s (Open Closed) .
Connects(d, rx, ry) : d rx ry

STRIPS

InRoom(I, R1) InRoom(I, R2)
InRoom(B, R2) InRoom(B, R2)
Connects(D, R1, R2) Connects(D, R1, R2)
Status(D, Open) Status(D, Open)
22

STRIPS
(operator)
Operator: GoToDoor(I, dr)

Precondition:
InRoom(I, ra), Connects(dr, ra, rb)
Effect:
add-list: NextTo(I, dr)
delete-list:
Operator: GoThruDoor(I, dr)
Precondition:
Connects(dr, ra, rb), NextTo(I,dr), Status(d, Open)
Effect:
add-list: InRoom(I, rb)
delete-list: InRoom(I, ra)

STRIPS

InRoom(I, R1) InRoom(I, R2)
InRoom(B, R2) InRoom(B, R2)
Status(D, Open) Status(D, Open)

InRoom(I, R2)
Operator: GoThruDoor(I, dr) rb = R2
Precondition:
Connects(dr, ra, rb), NextTo(I,dr), Status(d, Open) Connects(dr, ra, R2), NextTo(I, dr), Status(dr, Open)
Effect:
add-list: InRoom(I, rb) Connects(D, R1, R2)
delete-list: InRoom(I, ra)
dr = D, ra = R1
NextTo(I, D)
Operator: GoToDoor(I, dr) dr = D

Precondition:
InRoom(I, ra), Connects(dr, ra, rb) InRoom(I, ra), Connects(D, ra, rb)
Effect: ra = R1, rb = R2
add-list: NextTo(I, dr)
delete-list: InRoom(I, R1), Connects(D, R1, R2)
GoToDoor(I, D) GoThruDoor(I, D)
23

Sussman (Sussman Anomaly)
a
c b
a b c
STRIPS
STRIPS
6.2
(partial plan)
(partially instantiated actions)
(constraints)
(precedence) :
(binding) bar(y)
v1 v2 or v c Precond: p(y)
xy
v1 = v2 or v = c Effects:
(substitution) foo(x)
(causal link) Precond:
Effects: p(x) p(z) baz(z)

x=z Precond: p(z)
Effects:

(solution plan) (refinement)
24

(threat)
(deleted-condition interaction)
(causal link)
Effects

clobber(y)
Precond:
Effects: p(y)

p(x)
foo(x) baz(x)
Precond: Precond: p(x)
Effects: p(x) Effects:

(HWS) (Drill), (SM) (Milk)
(Banana)
()
Start
Precond: none
Effects: At(Home), sells(HWS,Drill), Sells(SM,Milk), Sells(SM,Banana)
Finish
Precond: Have(Drill), Have(Milk), Have(Banana), At(Home)
Go( , )
Precond: At(
Effects: At( ), At( )
Buy( , )
Precond: At( ), Sells( , )
Effects: Have( )
Start Finish
25

(initial plan): Start, Finish,
Start
Effects: At(Home), Sells(HWS,Drill), Sells(SM,Milk), Sells(SM,Bananas)
Precond: Have(Drill) Have(Milk) Have(Bananas) At(Home)
Finish
Dana Nau: Lecture slides for Automated Planning
51
Licensed under the Creative Commons Attribution-NonCommercial-ShareAlike License: http://creativecommons.org/licenses/by-nc-sa/2.0/

Have 3
Start
At(s1) Sells(s1, Drill) At(s2) Sells(s2,Milk) At(s3) Sells(s3,Bananas)
Buy(Drill, ss11))
Buy(Drill, Buy(Milk, SM) Buy(Bananas, SM)
Have(Drill) Have(Milk) Have(Bananas) At(Home)
Finish
52
26

Sells
Start
At(HWS) Sells(HWS,Drill) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Bananas)
Buy(Drill,HWS)
Buy(Drill, s1 ) Buy(Milk, SM) Buy(Bananas, SM)
Finish
53

At(HWS) At(SM) :
Start At(l2)
At(l1) Go(l2, SM)
Go(l1,HWS)
Buy(Drill,HWS)
Finish
54
27

At(s1) : Buy(Drill) Go(l2, SM)
Start At(l2)
At(l1) Go(l2, SM)
Go(l1,HWS)
Buy(Drill,HWS)
Finish
55

At(l1) : Start l1=Home
Start At(l2)
At(Home) Go(l2, SM)

Go(Home,HWS)
Buy(Drill,HWS)
Finish
56
28

At(l2) : Go(Home,HWS) l2= HWS
Start At(HWS)
At(Home) Go(HWS, SM)
Go(Home,HWS)
Buy(Drill,HWS)
Finish
57

Finish At(Home) : Go(l3, Home)
Start At(HWS)
Go(Home,HWS)
Buy(Drill,HWS)
At(l3)
Go(l3, Home)
Finish
58
29

At(SM), At(HWS) : Go(l3,Home)

Start At(HWS)
Go(Home,HWS)
Buy(Drill,HWS)
At(l3)
Go(l3, Home)
Finish
59

: At(l3) l3=SM
Start At(HWS)
Go(Home,HWS)
Buy(Drill,HWS)
At(SM)
Go(SM, Home)
Finish
60
30
6.3
(planning graph method)
(planning graph)
(branching factor)
:
g1 a1
g4 a4
g2 g0
s0 a2
g5 a5
a3
g3

GraphPlan
GraphPlan
STRIPS

. On(x,y) 2 : 4
:
:
31
GraphPlan
(planning graph)
(proposition level) (action level)

(maintenance)
0
(literal)
GraphPlan
(planning graph)
1
0
0 Precondition
1 Effects
32
GraphPlan
(planning graph)
1
1 Effects
0
0 1
GraphPlan
(planning graph)
2 2

33
GraphPlan
(planning graph)
(mutual exclusion, mutex)
,

(inconsistent effect)
effect effect
(interference)
precondition
(competing needs preconditions)

precondition

(inconsistent effect) (interference) (competing
needs preconditions)
GraphPlan
(planning graph)

(inconsistent support)

(inconsistent support)
34
GraphPlan
procedure Graphplan:
for = 0, 1, 2,
Graph expansion( ) :
create a planning graph that contains levels
Check whether the planning graph satisfies a necessary
(but insufficient) condition for plan existence
if it does, then
do solution extraction ( ) :
backward search,

modified to consider
only the actions in
the planning graph
if we find a solution,
then return it
GraphPlan

,

garb :
dinner :
present :
clean :
quiet :
35
GraphPlan
cont.

garb clean quiet

,
garb dinner present
GraphPlan
cont.

(cook), (wrap), (carry),
(dolly)
Action : cook
Precondition : clean
Effect : dinner
Action : wrap
Precondition : quiet
Effect : present
Action : carry
Precondition : garb
Effect : garb clean
Action : dolly
Precondition : garb
Effect : garb quiet
36
GraphPlan
cont.
GraphPlan
cont.
1 : garb dinner present
: cook, carry : wrap, dolly
37
GraphPlan
cont.

2 2
GraphPlan
cont.

cook {wrap, carry}
38
6.4

(hierarchical task network, HTN)

(task) ,

(primitive task) : ()
(non-primitive task)
(method) (subtask)

(constraint)
HTN
HTN
travel(x, y) (method)
method : taxi-travel(x,y)
task : travel(x,y)
precondition : short-distance(x,y)
subtasks : get-taxi, ride(x,y), pay-driver
constraints : {get-taxi < ride(x,y), ride(x,y) < pay-driver}
method : air-travel(x,y)
task : travel(x,y)
precondition : long-distance(x,y)
subtasks : buy-ticket(a(x),a(y)), travel(x,a(x)), fly(a(x),a(y)),travel(a(y),y)
constraints : { buy-ticket(a(x),a(y)) < fly(a(x),a(y)),
travel(x,a(x)) < fly(a(x),a(y)),
fly(a(x),a(y)) < travel(a(y),y) }
39
HTN
HTN cont.

task travel(x, y)
method : taxi-travel(x, y) method : air-travel(x, y)
buy-ticket(a(x), a(y))
get-taxi ride(x, y) pay-driver fly(a(x),a(y)) travel(a(y),y)
travel(x, a(x))
HTN
HTN cont.

travel(x, y)
travel(x, y)
taxi-travel
air-travel
short-distance(x, y)
long-distance(x, y)
get-taxi ride(x, y) pay-driver buy-ticket(a(x), a(y)) travel(x, a(x)) fly(a(x),a(y)) travel(a(y),y)
40
HTN
HTN

,
HTN
HTN cont.

precondition
S0 Precond. Effect S1 Precond. Effect S2
41
HTN
HTN
UMD(University of Maryland) MIT
travel(x, y) travel(UMD, MIT)

buy-ticket(BWI, Logan)
travel(UMD,BWI)
air-travel taxi-travel get-taxi
ride(UMD,BWI)
buy-ticket(a(x), a(y)) pay-driver
get-taxi
travel(x, a(x))
ride(x, y) fly(BWI, Logan)
fly(a(x),a(y)) travel(Logal, MIT)
pay-driver
travel(a(y),y)
get-taxi
long distance short distance ride(Logan, MIT)
pay-taxi
HTN
HTN
Bridge Baron
Us:East declarer, West dummy
Finesse(P1; S) Opponents:defenders, South & North
Contract:East 3NT
On lead:West at trick 3 East:KJ74
West: A2
LeadLow(P1; S) FinesseTwo(P ; S) Out: QT98653
2
PlayCard(P1; S, R1) EasyFinesse(P2; S) StandardFinesse(P2; S) BustedFinesse(P2; S)

West 2
(North Q) (North 3)
StandardFinesseTwo(P2; S) StandardFinesseThree(P3; S) FinesseFour(P4; S)
PlayCard(P2; S, R2) PlayCard(P3; S, R3) PlayCard(P4; S, R4) PlayCard(P4; S, R4)

North 3 East J South 5 South Q
image: S. Smith et al.
1998
42
43

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1

Images : google.com, movie posters

AI@50 conference (2005) : Trenchard More, John McCarthy, Marvin Minsky,

Image : www.dartmouth.edu, wikipedia

(weak AI, narrow AI)

Image : wikipedia, http://www.mind.ilstu.edu/curriculum/searle_chinese_room/searle_chinese_room.php

Allen Newell Herbert Simon

Image source : RMI MUNOS

http://www.youtube.com/watch?v=1u4PR-pfghU Image : spir.al, gamma.cs.unc.edu

http://www.cis.upenn.edu/~jshi/ http://www.alternet.org/ http://www.cs.tau.ac.il/~wolf/OR2/

(LAWS: Lethal Autonomous Weapon Systems)

National Robotics Engineering Center of Carnegie Mellon University http://www.briefreport.co.uk/news/taranis-uk-armed-drone-prototype-revealed-2218569.html

[Lin, Abney, Bekey 2012]

(depth-first search, DFS)

images: www.fansshare.com, www.casinonewsdaily.com

Slide from Sylvain Gelly

Slide from Sylvain Gelly

Slide from Sylvain Gelly

Slide from Sylvain Gelly

Kocsis & Szepesvari (06)

Slide from Sylvain Gelly

Slide from Sylvain Gelly

(0.6 0.8 . . . 1.2 0.9)

(E2 E5 E3 . . . E11 E7)

Image : MICHAEL NEGNEVITSKY, Artificial Intelligence

IF trafficLight = green THEN action = cross

HDD value 512GB

(George Boule, 1815-1864)

(Gottlob Frege, 1848-1925)

(conjunctive normal form, CNF)

(disjunctive normal form, DNF)

x y Horse(x) Dog(y) Faster(x,y)

y Greyhound(y) (z Rabbit(z) Faster(y,z))

x y z Faster(x,y) Faster(y,z) Faster(x,z)

(high-order predicate logic)

(a) Whoever can read is literate. ( )

SNOMED-CT(Systematized Nomenclature of Medicine - Clinical

LOINC(Logical Observation Identifiers Names and Codes)

FOAF (Friend of a friend)

SIOC (Semantically-Interlinked Online Communities Project)

RDFS(Resource Description Framework Schema)

RDF(Resource Description Framework)

PREFIX contact: <http://www.w3.org/2000/10/swap/pim/contact#>

sky is clear = 0.9,

sky is overcast 0.6

take an umbrella max 0.6,0.8 0.9 0.8 0.9 0.72

(crisp set, classical set) X

image : Michael Negnevitsky

image : Michael Negnevitsky

image : Michael Negnevitsky

image : Michael Negnevitsky

image : Michael Negnevitsky

poor good excellent rancid delicious cheap average generous

service food tip

SVM(support vector machine)

(data most recently entered)

public class PricingEngine {

public PricingEngine(Database aDatabase) throws JessException {

// Load the pricing rules

// Load the catalog data into working memory

// Mark end of catalog data for later

IF enemy visible and my health is < very-low-health-value (20%)

Humidity Yes Wind