Planning in Probabilistic domains

Example of a classical planning domain

Example of a classical planning domain

Example of a classical planning domain

Example of a classical planning domain

A classical planning domain

Probabilistic planning?

Ex. of a probabilistic planning domain

Markov Decision Process

GOAL of the talk!

Observability and Policy

Infinite horizon and Discount factor

Recap: Problem

Computation of ideal policy : Value Iteration

Value Iteration (contd)

Calculating policy from value iteration

Problem with Value iteration

END OF PART 1 J

Binary Decision Diagrams

BDD example

BDD operations: Reduce

BDD operations: Reduce

BDD operations : Apply

Algebraic Decision Diagrams

Advantages of ADD/BDD

Coffee domain

Factored MDP

Transition function in Factored MDP

Transition function (contd)

Value iteration using ADDs

State reachability analysis: LAO*

Symbolic LAO*

END J