Unit 8 5 Sensorless Vacumm Cleaner Problem- knowitvideos English Japanese

Unit 8 5 Sensorless Vacumm Cleaner Problem-YouTube↗ IA↗(long shot)
Howto & Style 7.9K views 12 likes 0 dislikes 31 Oct 2011

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[Narrator] This is the belief state space for the sensor-less vacuum problem.

これはセンサのない掃除機の問題について表した信念空間の図です

So we started off here.

ここから始めます

We drew the circle around this belief state.

この信念空間を円で囲みます

So we don't anything about where we are,

現在の位置につては何も分かりませんが

but the amazing thing is, if we execute actions, we can gain knowledge about the world even without sensing.

驚いたことにセンサがなくても行為を通して世界に関する情報を手に入れられるのです

So let's say we move right, then we'll know we're in the right-hand location.

例えば右に移動したならば部屋の右側にいることが分かります

Either we were in the left, and we moved right and arrived there, or we were in the right

最初に左にいたならば右に移動できますし

to begin with, and we bumped against the wall and stayed there.

右にいたならば壁に阻まれて動けないからです

So now we end up in this state.

従ってこのような状態に遷移します

We now know more about the world.

世界の状態に関する知識が増えました

We're down to 4 possibilities rather than 8, even though we haven't observed anything,

観測をしていないのにあり得る状態が8から4に減っています

and now note something interesting, that in the real world, the operations

面白いことに実世界の状態空間では

of going left and going right are inverses of each other, but

右への移動と左への移動は逆の操作ですが

in the belief state world going right and going left are not inverses.

信念空間では右への移動と左への移動は逆の操作ではありません

If we go right, and then we go left, we don't end up back where we were in a state of total uncertainty, rather

右に行ったあとで左に移動した場合何も分からない状態に戻るのではありません

going left takes us over here where we still know we're in 1 of 4 states rather than in 1 of 8 states.

8つではなく4つの可能性が考えられるこの状態に遷移します

Note that it's possible to form a plan that reaches a goal without ever observing the world.

観測をしなくても目標に達する計画を立案できることに注意してください

Plans like that are called conform-it plans.

そのような計画をconform－it planと言います

For example, if the goal is to be in a clean location

例えばゴミのない場所に行くことが目標であるとします

all we have to do is suck.

ゴミを吸い取れば目標は達成できます

So we go from one of these 8 states to one of these 4 states and,

8つの状態から始めてこの4つの状態のいずれかになり

every one of those 4, we're in a clean location.

どの状態を見ても掃除機はゴミのない場所にいます

We don't know which of the 4 we're in, but we know we've achieved the goal.

4つのうちのどの状態かは分かりませんが目標に達したことは分かります

It's also possible to arrive at a completely known state.

現在の状態が1つに定まる場合もあります

For example, if we start here, we go left; we suck up the dirt there.

例えばここから初めて左へ移動してゴミを吸い取り

If we go right and suck up the dirt,

右へ移動してまたゴミを吸い取れば

now we're down to a belief state consisting of 1 single state that is

1つの状態から成る信念状態に到達します

we know exactly where we are.

現在の状態が1つに定まるのです

Here's a question for you:

ここで問題です

How do I get from the state where I know my current square is clean,

今いる場所がきれいなことだけが分かっている信念状態から

but know nothing else, to the belief state where I know that I'm in the right-hand side location and that that location is clean?

右側にいてかつゴミがない状態にどうやって遷移できるでしょうか？

What I want you to do is click on the sequence of actions, left, right, or suck

右へ行く、左へ行く、ゴミを吸い取るといった

that will take us from that start to that goal.

行為の順番どおりにクリックしてください

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