Interactive Plan Recognition
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Transcript of Interactive Plan Recognition
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Interactive Plan Recognition
(Formerly Sequential Plan Recognition)
Reuth Mirsky, Roni Stern, Ya’akov (Kobi) Gal, Meir KalechDepartment of information systems engineering
Ben-Gurion University of the Negev
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Plan recognition“Infer the plan of theagent given observationsand a data base of recipes”Kautz (1986)
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Hypothesis representation• Plan = tree
• Hypothesis = set of plans
• Other representations (e.g. Ramírez and Geffner ‘09)3
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Hypothesis representation
The output of a PR algorithm is a set of hypotheses
Mix all
Pair-wise Mix
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Number of hypotheses
51 2 3 4 5 6 7 8 9 101
10
100
1000
10000
100000
VirtualLabsTinkerPlotsSimulated
# observations
Hyp
othe
ses
Hypothesis number grows exponentially (Geib and Goldam ‘09)
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The disambiguation problem
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Prior work
• Pruning • Kabanza and Filion. Controlling the hypothesis space in probabilistic plan
recognition. IJCAI. 2013. • Wiseman and Shieber. Discriminatively reranking abductive proofs for plan
recognition. Twenty-Fourth International Conference on Automated Planning and Scheduling. 2014.
• Mirsky, Gal, Shieber. CRADLE: an online plan recognition algorithm for exploratory domains. [under submission].
• Less expressive representation• Avrahami-Zilberbrand and Kaminka. Incorporating observer biases in keyhole plan
recognition (efficiently!). AAAI. Vol. 7. 2007.• Geib. Delaying Commitment in Plan Recognition Using Combinatory Categorial
Grammars. IJCAI. 2009. • Sukthankar and Sycara. Hypothesis pruning and ranking for large plan recognition
problems. AAAI. Vol. 8. 2008. 7
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Contributions
• The Interactive Plan Recognition Process (IPRP)• Soundness and Completeness proof• Policies for solving IPRP• Extensive empirical evaluation
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Mirsky, Gal, Stern and Kalech. Sequential Plan Recognition. AAMAS (Extended Abstract). 2016.
Mirsky, Stern, Gal and Kalech. Sequential Plan Recognition. IJCAI. 2016.
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IPRP
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Iterative process for disambiguating the hypothesis space
Coming up:•Which hypotheses to discard?•Which plan to choose?
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
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Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
11
Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
Is plan A part of the correct hypothesis?
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
12
Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
Is plan A part of the correct hypothesis?
Yes, it is part of my plan
Then B and C might alsobe part of your plan
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
13
Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
Is plan A part of the correct hypothesis?
No, it is not part of my plan
Then neither B nor C can be part of your plan
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
14
Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
Is plan B part of the correct hypothesis?
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
15
Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
No, it is not part of my plan
Then B cannot be part of your plan, but C might
Is plan B part of the correct hypothesis?
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The Refinement Criteria
Solve Problem
Create Flasks
Perform Test
Write Results
16
Solve Problem
Create Flasks
Perform Test
Pair-wise Mix
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
A
B C
Yes, it is part of my plan
We Cannot discard hypotheses with A
Is plan B part of the correct hypothesis?
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The Match Criteria
Solve Problem
Create Flasks
Create All
Perform Test
Mix All
Write Results
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Solve Problem
Create Flasks
Create All
Perform Test
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
B C
A
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The Match Criteria
Solve Problem
Create Flasks
Create All
Perform Test
Mix All
Write Results
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Solve Problem
Create Flasks
Create All
Perform Test
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
B C
A
Is plan B part of thecorrect hypothesis?
No, Plan B is not a part of my plan
Then A and B can not be part of the
correct hypothesis
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The Match Criteria
Solve Problem
Create Flasks
Create All
Perform Test
Mix All
Write Results
19
Solve Problem
Create Flasks
Create All
Perform Test
Write Results
Solve Problem
Create Flasks
Perform Test
Mix All
Write Results
B C
AYes, Plan B is part of my plan
Then all plans can still be part of your
plan
Is plan B part of thecorrect hypothesis?
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Soundness and completeness
• Completeness: IPR does not remove any hypothesis that can be refined to the correct hypothesis• Soundness: Every hypothesis IPR keeps can be
refined to the correct hypothesis
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All Hypotheses
Correct
Removed
Remaining
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Which plan to query next?• Random: choose a random plan• Most Probable Hypothesis (MPH): choose a plan from the
most probable hypothesis
• Most Probable Plan (MPP): choose the most probable plan
• Entropy: choose the most informative plan
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Reduction in Hypotheses by Strategy
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Discussion
• After 1 query• 39% reduction in hypotheses (simulated domain)• 46% reduction in hypotheses (VirtualLabs domain)
• Entropy strategy outperforms all other strategies
• Find an optimal querying policy
• Apply IPRP in real world domains
• Open source code on github:
https://github.com/ReuthMirsky/IPR23