SP07 cs188 Lecture 8 - Logical Agents 1

CS 188: Artificial Intelligence
Spring 2007
Lecture 8: Logical Agents - I

2/8/2007
Srini Narayanan – ICSI and UC Berkeley

Many slides over the course adapted from Dan Klein, Stuart
Russell or Andrew Moore
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Announcements
§ Concurrent Enrollment
§ Assignment 1 Solutions up
§ Note on notational variants

Non-Zero-Sum Games
§ Similar to
minimax:
§ Utilities are
now tuples
§ Each player
maximizes
their own entry
at each node
§ Propagate (or
back up) nodes 1,2,6 4,3,2 6,1,2 7,4,1 5,1,1 1,5,2 7,7,1 5,4,5
from children

Stochastic Single-Player
§ What if we don’t know what the
result of an action will be? E.g.,
§ In solitaire, shuffle is unknown
§ In minesweeper, don’t know where max
the mines are
§ Can do expectimax search

§ Chance nodes, like actions except average
the environment controls the action
chosen
§ Calculate utility for each node
§ Max nodes as in search
§ Chance nodes take average 8 2 5 6
(expectation) of value of children
§ Later, we’ll learn how to formalize

this as a Markov Decision
Process

Stochastic Two-Player
§ E.g. backgammon
§ Expectiminimax (!)
§ Environment is an
extra player that moves
after each agent
§ Chance nodes take
expectations, otherwise
like minimax

Game Playing State-of-the-Art
§ Checkers: Chinook ended 40-year-reign of human world champion
Marion Tinsley in 1994. Used an endgame database defining perfect
play for all positions involving 8 or fewer pieces on the board, a total
of 443,748,401,247 positions.
§ Chess: Deep Blue defeated human world champion Gary Kasparov

in a six-game match in 1997. Deep Blue examined 200 million
positions per second, used very sophisticated evaluation and
undisclosed methods for extending some lines of search up to 40
ply.
§ Othello: human champions refuse to compete against computers,

which are too good.
§ Go: human champions refuse to compete against computers, which

are too bad. In go, b > 300, so most programs use pattern
knowledge bases to suggest plausible moves.

Logical Agents
§ Reflex agents find their way from Arad to Bucharest by
dumb luck.
§ Chess program calculates legal moves of its king, but
doesn’t know that no piece can be on 2 different squares
at the same time
§ Logic (Knowledge-Based) agents combine
§ general knowledge &
§ current percepts
§ to infer hidden aspects of current state prior to
selecting actions
§ Crucial in partially observable environments

Outline
§ Knowledge-based agents
§ Wumpus world example
§ Logic in general - models and entailment
§ Propositional (Boolean) logic
§ Equivalence, validity, satisfiability
§ Inference

Knowledge bases
§ Knowledge base = set of sentences in a formal language

§ Declarative approach to building an agent (or other system):
§ Tell it what it needs to know
§ Then it can Ask itself what to do - answers should follow from the
KB
§ Agents can be viewed at the knowledge level
i.e., what they know, regardless of how implemented
§ Or at the implementation level
§ i.e., data structures in KB and algorithms that manipulate them

A simple knowledge-based agent
§ The agent must be able to:

§ Represent states, actions, etc.
§ Incorporate new percepts
§ Update internal representations of the world
§ Deduce hidden properties of the world
§ Deduce appropriate actions

Wumpus World PEAS description
§ Performance measure
§ gold +1000, death -1000
§ -1 per step, -10 for using the arrow
§ Environment
§ Squares adjacent to wumpus are smelly
§ Squares adjacent to pit are breezy
§ Glitter iff gold is in the same square
§ Shooting kills wumpus if you are facing it
§ Shooting uses up the only arrow
§ Grabbing picks up gold if in same square
§ Releasing drops the gold in same square
§ Sensors: Stench, Breeze, Glitter, Bump, Scream

§ Actuators: Left turn, Right turn, Forward, Grab, Release, Shoot

Wumpus world characterization
§ Fully Observable No – only local perception
§ Deterministic Yes – outcomes exactly specified
§ Episodic No – sequential at the level of actions
§ Static Yes – Wumpus and Pits do not move
§ Discrete Yes
§ Single-agent? Yes – Wumpus is essentially a
natural feature

Exploring the Wumpus World
1. The KB initially contains the rules of the environment.

2. [1,1] The first percept is [none, none,none,none,none],
Move to safe cell e.g. 2,1
3. [2,1] Breeze indicates that there is a pit in [2,2] or [3,1]
4. Return to [1,1] to try next safe cell

4. [1,2] Stench in cell: wumpus is in [1,3] or [2,2]

YET … not in [1,1]
Thus … not in [2,2] or stench would have been detected in [2,1]
Thus … wumpus is in [1,3]
Thus … [2,2] is safe because of lack of breeze in [1,2]
Thus … pit in [3,1]
Move to next safe cell [2,2]

5. [2,2] Detect nothing

Move to unvisited safe cell e.g. [2,3]
6. [2,3] Detect glitter , smell, breeze
Thus… pick up gold
Thus… pit in [3,3] or [2,4]

Logic in general
§ Logics are formal languages for representing information
such that conclusions can be drawn
§ Syntax defines the sentences in the language
§ Semantics define the "meaning" of sentences;
§ i.e., define truth of a sentence in a world
§ E.g., the language of arithmetic

§ x+2 ≥ y is a sentence; x2+y > {} is not a sentence
§ x+2 ≥ y is true iff the number x+2 is no less than the number y
§ x+2 ≥ y is true in a world where x = 7, y = 1
§ x+2 ≥ y is false in a world where x = 0, y = 6

Entailment
§ Entailment means that one thing follows from
another:
KB ╞ α
§ Knowledge base KB entails sentence α if and
only if α is true in all worlds where KB is true
§ E.g., the KB containing “the Giants won” and “the
Reds won” entails “Either the Giants won or the Reds
won”
§ E.g., x+y = 4 entails 4 = x+y
§ Entailment is a relationship between sentences (i.e.,
syntax) that is based on semantics

Schematic perspective
If KB is true in the real world, then any sentence α derived

from KB by a sound inference procedure is also true in the
real world.

Models
§ Logicians typically think in terms of models, which are formally
structured worlds with respect to which truth can be evaluated
§ We say m is a model of a sentence α if α is true in m
§ M(α) is the set of all models of α
§ Then KB ╞ α iff M(KB) ⊆ M(α)

§ E.g. KB = Giants won and Reds
won α = Giants won

Entailment in the wumpus world
Situation after detecting
nothing in [1,1], moving
right, breeze in [2,1]
Consider possible models for

KB assuming only pits
3 Boolean choices ⇒ 8
possible models

Wumpus models

Wumpus models
§ KB = wumpus-world rules + observations

Wumpus models

§ α1 = "[1,2] is safe", KB ╞ α1, proved by model checking

Wumpus models

Wumpus models

§ α2 = "[2,2] is safe", KB ╞ α2

Inference Procedures
§ KB ├i α = sentence α can be derived from KB by

procedure i
§ Soundness: i is sound if whenever KB ├i α, it is

also true that KB╞ α
(no wrong inferences but maybe not all true
statements can be derived)
§ Completeness: i is complete if whenever KB╞ α,

it is also true that KB ├i α
(all true sentences can be derived, but maybe
some wrong extra ones as well)

Propositional logic: Syntax
§ Propositional logic is the simplest logic – illustrates
basic ideas
§ The proposition symbols P1, P2 etc are sentences
§ If S is a sentence, ¬S is a sentence (negation)

§ If S1 and S2 are sentences, S1 ∧ S2 is a sentence (conjunction)
§ If S1 and S2 are sentences, S1 ∨ S2 is a sentence (disjunction)
§ If S1 and S2 are sentences, S1 ⇒ S2 is a sentence (implication)
§ If S1 and S2 are sentences, S1 ⇔ S2 is a sentence (biconditional)

Propositional logic: Semantics
Each model specifies true/false for each proposition symbol
E.g. P1,2 P2,2 P3,1
false true false
With these symbols, 8 possible models, can be enumerated automatically.

Rules for evaluating truth with respect to a model m:
¬S is true iff S is false
S1 ∧ S2 is true iff S1 is true and S2 is true
S1 ∨ S2 is true iff S1is true or S2 is true
S1 ⇒ S2 is true iff S1 is false or S2 is true
i.e., is false iff S1 is true and S2 is false
S1 ⇔ S2 is true iff S1⇒S2 is true and S2⇒S1 is true
Simple recursive process evaluates an arbitrary sentence, e.g.,
¬P1,2 ∧ (P2,2 ∨ P3,1) = true ∧ (true ∨ false) = true ∧ true = true

Truth tables for connectives
OR: P or Q is true or both are true. Implication is always true

XOR: P or Q is true but not both. when the premises are False!

Wumpus world sentences
Let Pi,j be true if there is a pit in [i, j].
Let Bi,j be true if there is a breeze in [i, j].
start: ¬ P1,1
¬ B1,1
B2,1
"Pits cause breezes in adjacent squares"

B1,1 ⇔ (P1,2 ∨ P2,1)
B2,1 ⇔ (P1,1 ∨ P2,2 ∨ P3,1)

Truth tables for inference

Inference by enumeration
§ Depth-first enumeration of all models is sound and complete
§ PL-True returns true if the sentence holds within the model

§ For n symbols, time complexity is O(2n), space complexity is O(n)

Validity and satisfiability
A sentence is valid if it is true in all models,
e.g., True, A ∨¬A, A ⇒ A, (A ∧ (A ⇒ B)) ⇒ B
Validity is connected to inference via the Deduction Theorem:

KB ╞ α if and only if (KB ⇒ α) is valid
A sentence is satisfiable if it is true in some model

e.g., A∨ B, C
A sentence is unsatisfiable if it is true in no models

e.g., A∧¬A
Satisfiability is connected to inference via the following:

KB ╞ α if and only if (KB ∧¬α) is unsatisfiable
Satisfiability of propositional logic was instrumental in developing the
theory of NP-completeness.

Proof methods
§ Proof methods divide into (roughly) two kinds:
§ Application of inference rules

§ Legitimate (sound) generation of new sentences from old
§ Proof = a sequence of inference rule applications
Can use inference rules as operators in a standard search
algorithm
§ Typically require transformation of sentences into a normal form
§ Model checking
§ truth table enumeration (always exponential in n)
§ improved backtracking, e.g., Davis--Putnam-Logemann-Loveland
(DPLL)
§ heuristic search in model space (sound but incomplete)
e.g., min-conflicts-like hill-climbing algorithms

Logical equivalence
§ To manipulate logical sentences we need some rewrite
rules.
§ Two sentences are logically equivalent iff they are true in
same models: α ≡ ß iff α╞ β and β╞ α
You need to
know these !

Conversion to CNF
B1,1 ⇔ (P1,2 ∨ P2,1)
1. Eliminate ⇔, replacing α ⇔ β with (α ⇒ β)∧(β ⇒ α).

(B1,1 ⇒ (P1,2 ∨ P2,1)) ∧ ((P1,2 ∨ P2,1) ⇒ B1,1)
2. Eliminate ⇒, replacing α ⇒ β with ¬α∨ β.

(¬B1,1 ∨ P1,2 ∨ P2,1) ∧ (¬(P1,2 ∨ P2,1) ∨ B1,1)
3. Move ¬ inwards using de Morgan's rules and double-

negation:
(¬B1,1 ∨ P1,2 ∨ P2,1) ∧ ((¬P1,2 ∨ ¬P2,1) ∨ B1,1)
4. Apply distributivity law (∧ over ∨) and flatten:

(¬B1,1 ∨ P1,2 ∨ P2,1) ∧ (¬P1,2 ∨ B1,1) ∧ (¬P2,1 ∨ B1,1)

Resolution
Conjunctive Normal Form (CNF)
conjunction of disjunctions of literals
E.g., (A ∨ ¬B) ∧ (B ∨ ¬C ∨ ¬D) :
Basic intuition, resolve B, ¬B to get (A) ∨ (¬C ∨ ¬D) (why?)
§ Resolution inference rule (for CNF):

li ∨… ∨ lk, m1 ∨ … ∨ mn
li ∨ … ∨ li-1 ∨ li+1 ∨ … ∨ lk ∨ m1 ∨ … ∨ mj-1 ∨ mj+1 ∨... ∨ mn
where li and mj are complementary literals.

E.g., P1,3 ∨ P2,2, ¬P2,2
P1,3
§ Resolution is sound and complete

for propositional logic.
§ Basic Use: KB ╞ α iff (KB ∧¬α) is unsatisfiable

Resolution
Soundness of resolution inference rule:
¬(li ∨ … ∨ li-1 ∨ li+1 ∨ … ∨ lk) ⇒ li

¬mj ⇒ (m1 ∨ … ∨ mj-1 ∨ mj+1 ∨... ∨ mn)
¬(li ∨ … ∨ li-1 ∨ li+1 ∨ … ∨ lk) ⇒ (m1 ∨ … ∨ mj-1 ∨ mj+1 ∨... ∨ mn)

Resolution algorithm
§ Proof by contradiction, i.e., show KB∧¬α unsatisfiable

Resolution example
§ KB = (B1,1 ⇔ (P1,2∨ P2,1)) ∧¬ B1,1 α = ¬P1,2

Efficient propositional inference
Two families of efficient algorithms for propositional
inference:
Complete backtracking search algorithms

§ DPLL algorithm (Davis, Putnam, Logemann, Loveland)
§ Incomplete local search algorithms
§ WalkSAT algorithm

The DPLL algorithm
Determine if an input propositional logic sentence (in CNF) is
satisfiable.
Improvements over truth table enumeration:

1. Early termination
A clause is true if any literal is true.
A sentence is false if any clause is false.
2. Pure symbol heuristic

Pure symbol: always appears with the same "sign" in all clauses.
e.g., In the three clauses (A ∨ ¬B), (¬B ∨ ¬C), (C ∨ A), A and B are pure, C is
impure.
Make a pure symbol literal true.
3. Unit clause heuristic

Unit clause: only one literal in the clause
The only literal in a unit clause must be true.

The WalkSAT algorithm
§ Incomplete, local search algorithm
§ Evaluation function: The min-conflict heuristic of
minimizing the number of unsatisfied clauses
§ Balance between greediness and randomness

The WalkSAT algorithm

Hard satisfiability problems
§ Consider random 3-CNF sentences. e.g.,
(¬D ∨ ¬B ∨ C) ∧ (B ∨ ¬A ∨ ¬C) ∧ (¬C ∨
¬B ∨ E) ∧ (E ∨ ¬D ∨ B) ∧ (B ∨ E ∨ ¬C)
m = number of clauses
n = number of symbols
§ Hard problems seem to cluster near m/n = 4.3

(critical point)


§ Median runtime for 100 satisfiable random 3-

CNF sentences, n = 50

Inference-based agents in the
wumpus world
A wumpus-world agent using propositional logic:
¬P1,1
¬W 1,1
Bx,y ⇔ (Px,y+1 ∨ Px,y-1 ∨ Px+1,y ∨ Px-1,y)
Sx,y ⇔ (W x,y+1 ∨ W x,y-1 ∨ W x+1,y ∨ W x-1,y)
W1,1 ∨ W 1,2 ∨ … ∨ W 4,4
¬W 1,1 ∨ ¬W 1,2
¬W 1,1 ∨ ¬W 1,3
…
⇒ 64 distinct proposition symbols, 155 sentences

Summary
§ Logical agents apply inference to a knowledge base to derive new
information and make decisions
§ Basic concepts of logic:
§ syntax: formal structure of sentences
§ semantics: truth of sentences wrt models
§ entailment: necessary truth of one sentence given another
§ inference: deriving sentences from other sentences
§ soundness: derivations produce only entailed sentences
§ completeness: derivations can produce all entailed sentences
§ Wumpus world requires the ability to represent partial and negated
information, reason by cases, etc.
§ Resolution is complete for propositional logic
Forward, backward chaining are linear-time, complete for Horn
clauses
§ Propositional logic lacks expressive power

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CS 188: Artificial Intelligence

Lecture 8: Logical Agents - I

Srini Narayanan – ICSI and UC Berkeley

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§ Can do expectimax search

§ Later, we’ll learn how to formalize

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§ Chess: Deep Blue defeated human world champion Gary Kasparov

§ Othello: human champions refuse to compete against computers,

§ Go: human champions refuse to compete against computers, which

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§ Knowledge base = set of sentences in a formal language

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§ The agent must be able to:

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§ Sensors: Stench, Breeze, Glitter, Bump, Scream

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1. The KB initially contains the rules of the environment.

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4. [1,2] Stench in cell: wumpus is in [1,3] or [2,2]

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5. [2,2] Detect nothing

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§ E.g., the language of arithmetic

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If KB is true in the real world, then any sentence α derived

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§ We say m is a model of a sentence α if α is true in m

§ M(α) is the set of all models of α

§ Then KB ╞ α iff M(KB) ⊆ M(α)

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Consider possible models for

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§ KB = wumpus-world rules + observations

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§ KB = wumpus-world rules + observations

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§ KB = wumpus-world rules + observations

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§ KB = wumpus-world rules + observations

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§ KB ├i α = sentence α can be derived from KB by

§ Soundness: i is sound if whenever KB ├i α, it is

§ Completeness: i is complete if whenever KB╞ α,

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§ The proposition symbols P1, P2 etc are sentences

§ If S is a sentence, ¬S is a sentence (negation)

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With these symbols, 8 possible models, can be enumerated automatically.

Simple recursive process evaluates an arbitrary sentence, e.g.,

¬P1,2 ∧ (P2,2 ∨ P3,1) = true ∧ (true ∨ false) = true ∧ true = true