Unit 8 4 Vacuum Cleaner Example knowitvideos English Japanese

Unit 8 4 Vacuum Cleaner ExampleYouTube↗ IA↗(long shot)
Howto & Style 15.1K views 46 likes 4 dislikes 31 Oct 2011

knowitvideos 11.8K subscribers N/A YouTube↗

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[Narrator] Here's a state space diagram for a simple problem.

これは簡単な問題の状態空間を図示したものです

It involves a room with 2 locations. The left we call A, and the right we call B,

部屋が2つの部分に分かれています左側がAで右側をBとします

and in that environment there's a vacuum cleaner, and there may or may not be dirt in either of the 2 locations,

そこに掃除機がある場合とない場合ゴミがある場合とない場合があります

and so that gives us 8 total states.

従って全部で8通りの状態があります

Dirt is here or not, here or not, and the vacuum cleaner is here or here.

ゴミがあるかないか掃除機の場所がどちらか

So that's 2 times 2 times 2 is 8 possible states, and I've drawn

2×2×2で合計8つの状態があります

here the states based diagram with all the transitions

図にはすべての状態遷移も書き込まれています

for the 3 possible actions, and the actions are moving right.

可能な行為は3つあります

So we'd go from this state to this state. Moving left, we'd go from this state to this state,

右に行けばこの状態遷移となり左に行けばこのようになります

and sucking up dirt, we'd go from this state to this state for example, and

ゴミを吸い取ればこの状態遷移となります

in this state space diagram,

この状態遷移図において

if we have a fully deterministic, fully observable world, it's easy to plan.

もし完全観測可能なら計画を立てることは簡単です

Say we start in this state, and we want to be-- end up in a goal state where both sides are clean.

例えばこの状態から始めて両方の場所にゴミがない状態を目標にします

We can execute the suck-dirt action and get here and then move right, and then suck dirt again,

ここでゴミを吸い取り状態遷移し右に移動してもう一度ゴミを吸い取り

and now we end up in a goal state where everything is clean.

両方にゴミのない目標状態に到達します

Now suppose our robot vacuum cleaner's

掃除機のセンサが壊れたとしましょう

sensors break down, and so the robot can no longer perceive either which location its in or whether there's any dirt.

ロボット掃除機には現在の位置やゴミの有無がまったく分かりません

So we now have an unobservable or sensor-less world rather

完全観測可能な世界が観測不能な世界となるわけですが

than a fully observable one, and how does the agent then represent the state of the world?

エージェントは世界の状態をどう表現するでしょう？

Well it could be in any one of these 8 states,

その場合も8つの状態のどれかであると言えるので

and so all we can do to represent the current state is draw a big circle

この中のいずれかの状態であることを表す

or box around everything, and say, "I know I'm somewhere inside here."

大きな円を描けばよいのです

Now that doesn't seem like it helps very much.

これはかなり有効な方法のようですが

What good is it to know that we don't really know anything at all?

状態について何も知らないことが分かってどんな利点があるのでしょうか？

But the point is that we can search in the state space of the least states rather

大切なのはこれによって実際の空間ではなく

than in the state space of actual spaces.

信念空間で探索ができるようになったことです

So we believe that we're in 1 of these 8 states,

現状は8つのいずれかであるという信念があり

and now when we execute an action, we're going to get to another belief state.

何か行為をすれば別の信念状態に遷移します

Let's take a look at how that works.

例を見てみましょう

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