1 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 HEDLAMP (Huddersfield + Edinburgh - Learning and Adaptation of Models for Planning) Gerhard Wickler AIAI, University of Edinburgh, UK

2 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Introduction / Overview l AI Planning at Edinburgh: –Early Work on HTN Planning (70s): Austin Tate’s NONLIN –The Open Planning Architecture: O-Plan (80s & 90s) –New Technology: I-X (2000s) l AIAI and I-X: –I-X used in many AIAI planning-related projects (open source) –I-X applications: domain-specific; possibly restricted distribution l Overview (this presentation): –Generic HTN Planning Technology: I-X and the Process Panel –Applications: I-X and Its Use in Emergency Response –Procedural Knowledge Engineering with Domain Features –I-Room: Collaboration Support in Virtual Worlds

3 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 HEDLAMP Partners l University of Huddersfield - Department of Informatics - Knowledge Engineering and Intelligent Interfaces research group: Prof. Lee McCluskey and Dr. Peter Gregory l University of Edinburgh - School of Informatics - CISA/AIAI: Prof. Austin Tate and Dr. Gerhard Wickler l Huddersfield –Domain Model Generation –Machine Learning l Edinburgh: –Rich Plan Generation –Dynamic Multi-Agent Planning –Mixed-Initiative Operations Centres l

4 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 “To-Do” Lists and I-X Process Panels l organizing work: to-do lists –universally acknowledged to be useful –help people remembering what needs to be done »ensure everything gets done »provide overview of unaccomplished tasks l the I-X framework –for creating applications in which multiple agents »adopt a task-centric view of a situation »must coordinate to perform their activities l I-X Process Panels –principal interface to an I-X application –provide functionality of to-do list (amongst others)

5 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 I-X Process Panel: Example l issues: questions l activities: items on the to-do list –described as verb plus parameters –can be annotated –have priority –actions suggested by I-X »tick off »refine task »pass to others »use custom handler l state: world state information l annotations: none shown

6 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 The I-X Tool Suite for e-Response I-Space agent relationship/ capability tool Presence Tool agent presence awareness Map Tool Situation awareness Web Resources SOP repository 3-D Viewer Domain Editor create and manage SOPs PDA Viewer Message Tool formal/informal comms channel Process Panel Principal activity/ issue interface

7 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012Co-OPR2 Collaboration and Communication Command Centre Isolated Personnel Emergency Responders Central Authorities

8 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 FireGrid Data access: maps, models Super- real-time simulation (HPC) Command-and- Control Emergency responders 1000s of sensors & gateway processing Grid I-X Technologies

9 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 OpenVCE l OpenVCE: supports collaboration in virtual spaces –website based on open source content management system (Drupal + MediaWiki) for asynchronous collaboration –3D virtual space for synchronous collaboration (Second Life) –virtual collaboration protocol: SOP for using OpenVCE

10 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Further Background l Rich Plan Representation – Plan Abstraction –MIT Process Handbook – PIF –NIST PSL (Core) and ISO –SPAR - Shared Planning and Activity Representation l I-X Resources –I-X 4.6 (25-Aug-2010) –I-X Applications –I-X UAV-MP App for UAV Mission Planning (2003) –I-Globe app (I-X/AGlobe) planning and simulated execution for mobile vehicles operation (2007) l I-Room app - a virtual space for intelligent applications

11 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Domain Features l problem formulation: planning domain + problem define search space; essential for efficient planning l idea: explicitly represent (redundant) domain features to ensure consistency of the representation l overview (domain features): –static vs. fluent relations –domain types –reversible actions –inconsistent effects l PDDL: contains types (optional); other features not supported

12 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Static vs. Fluent Relations example: DWR domain (:predicates :static (adjacent ?l1 ?l2 - location) :fluent (at ?r - robot ?l - location) etc. (:action move :parameters (?r - robot ?from ?to - location) :precondition (and (adjacent ?from ?to) (at ?r ?from) (not (occupied ?to))) :effect (and (at ?r ?to) (not (occupied ?from)) (occupied ?to) (not (at ?r ?from)) )) l domain validation: –static relations: must not appear in effects –fluent relations: should appear somewhere in effects

13 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Domain Types: Example example: (:predicates :static (adjacent ?l1 ?l2 - location) :fluent (at ?r - robot ?l - location) etc. (:action move :parameters (?r - robot ?from ?to - location) :precondition (and (adjacent ?from ?to) (at ?r ?from) (not (occupied ?to))) :effect (and (at ?r ?to) (not (occupied ?from)) (occupied ?to) (not (at ?r ?from)) )) l domain validation: –derive type system from operator specification –compare declared types to derived types

14 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Derived Types (O-types) l type names: (predicate/operator  arg. position) l O-type: set of type names such that  O iff –  variable v: v is i 1 th parameter of operator N 1 which has a precondition or effect with predicate N 2 and v as i 2 th argument, or –[symmetric case for operator N 2 and predicate N 1 ], or –[transitivity of  O relation] l Proposition: Let (s i,g,O) be a STRIPS planning problem and let (C, T,  ) be the O-type partition derived from this problem. Then every state that is reachable from the initial state s i is type consistent. l Theorem: Let (s i,g,O) be a STRIPS planning problem and let (C, T,  ) be the O-type partition derived from this problem. If two constants c 1 and c 2 have the same type  (c 1 ) =  (c 2 ) then they must have the same type in every type partition that creates a type consistent search space.

15 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Derived Types: Algorithm for every operator for every precondition and effect for every argument variable v let t pi be the O-type of the predicate/argument position let t v be the O-type of the variable t pi undefined and t v undefined: create new O-type; assign to t pi and t v t pi defined and t v undefined: assign t pi to t v t pi undefined and t v defined: assign t v and t pi t pi defined and t v defined: merge O-types of t pi and t v

16 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Domain Types: Evaluation l DWR domain (types defined) –algorithm output: »type: [loaded-0, unloaded-0, at-0] »type: [attached-0, top-1, in-1] »type: [occupied-0, attached-1, belong-1, adjacent-1, adjacent-0, at-1] »type: [belong-0, holding-0, empty-0] »type: [loaded-1, holding-1, on-1, on-0, in-0, top-0] –corresponds to five types declared in PDDL specification l other domains (from IPC, no types defined) –movie, gripper, logistics, mystery, mprime and grid –algorithm derives between 3 and 5 types –“manual” evaluation appears consistent

17 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 OpenVCE: Virtual Space l I ‑ Room: an environment designed for intelligent interaction l realizations in Second Life® and OpenSim l avatars in surrogate reality: intuitive grounding in a persistent space l compelling sense of shared presence l intelligent systems and tool support for meetings and collaborative activities: I-X and

18 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Collaborative SOP Development l idea: use wiki as tool for collaborative SOP development –MediaWiki: open source, scalable, robust tool –SOP extension: supports structured SOPs l creating an SOP on the wiki: –write the unstructured SOP as free text (or use existing book) –divide into articles; one method/refinement per article –mark up articles using SOP extension tags: »{{#objective:…}} the task accomplished by the method; one per method »{{#subtask:…}} task breakdown; tasks that need to be accomplished (in sequence) to implement the method

19 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 Distributed Use of SOPs l idea: export formal SOP (based on tags) to task support tool –I-X: Intelligent Distributed To-Do List or –web-based tool with similar functionality

20 HEDLAMP Kick-Off Meeting Schlumberger Cambridge, 3/4/2012 What’s Next? l Making domain analysis more accessible with a GUI (in progress) l Work package 1: –Analysis of collaborator applications »What is the problem? »What data is available? »What degree of autonomy / human intervention is expected? –State of the art l Work package 2: Simulation l Work package 3: Representation