単純タイルワールドにおけるSIPの実験的評価

概要

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We have proposed the SIP planning method which interleaves planning with executions by using the success probabilities of plans. With SIP, an agent is able to control deliberation depending on the change of an environment. The formal framework has been developed using a plan Bayesian network, however we need to investigate the utility of SIP in a testbed for a dynamic environment. In this paper, we report results for various experiments made in a simplified Tile World. First we characterize a simplified Tile World with a few essential parameters: dynamics, cost for actions including observations and uncertainty, Various experiments are made, and we find out interesting properties: a single optimal execution threshold between reactivity and deliberation, robustness of the optimal threshold against the change of dynamics and observation costs. We consider that these properties significantly contribute to design of an agent in a dynamic environment.
1996-09-01