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This chapter is about a refinement acting engine (RAE) used on a hierarchical task-oriented representation. It relies on an expressive, general-purpose language that offers rich programming control structures for online decision-making. A collection of refinement methods describes alternative ways to handle tasks and react to events. A method can be any complex algorithm, decomposing a task into subtasks and primitive actions. Subtasks are refined recursively. Nondeterministic actions trigger sensory-motor procedures that query and change the world nondeterministically. We assume that the methods are manually specified and that RAE chooses the appropriate method for the task and context at hand heuristically.
The recent developments of large language models (LLMs) and their extension in multimodal foundation models have introduced new perspectives in AI. An LLM is basically a very large neural net trained as a statistical predictor of the likely continuation of a sequence of words. LLMs have excellent competencies over a broad set of NLP tasks. Additionally, LLMs demonstrate the emergence of deliberation capabilities for reasoning, common sense, problem solving, code writing, and planning. These abilities have not been designed for in LLMs. They are unexpected and remain to a large extent poorly understood. Although error-prone and imperfect, they open up promising perspectives for acting, planning, and learning, which are presented in this chapter.
This chapter is about domain-independent classical-planning algorithms, which until recently were the most widely studied class of AI planning algorithms. The chapter classifies and describes a variety of forward search, backward search, and plan-space planning algorithms, as well as heuristics for guiding the algorithms.
This chapter sets the foundation for the next two chapters. It introduces the reader to robotics platforms for the development of acting, planning, and learning functions. The study of motion is based on classical mechanics for the modeling of forces and their effects on mouvements. Robotics builds on this knowledge to master computational motion, navigation, and manipulation over different types of devices and environments. Robotic devices are informally introduced in the following section. Motion problems and the metric representations with continuous state variables needed for geometric, kinematic, and dynamic operational models are then presented. Section 20.3 introduces localization and navigation problems, followed by a section on manipulation problems and their representations.
This chapter is about representing HTN planning domains and solving HTN planning problems. Several of the formal definitions require the same "classical planning" restrictions as in Part I, but most practical HTN implementations loosen or drop several of these restrictions. We first discuss ways to represent and solve planning problems in which there is a totally ordered sequence of tasks to accomplish. We then generalize to allow partially ordered tasks and describe ways to combine classical planning and HTN planning. Finally, we briefly discuss heuristic functions, expressivity, and computational complexity.
We have established a novel molecular kinetic model that addresses fundamental challenges in the non-equilibrium transport of nanoscale confined fluids, such as rarefaction and fluid inhomogeneities, which are crucial to a range of scientific and engineering fields. The proposed model explicitly considers fluid–solid molecular interactions in the transport equations, eliminating the reliance on predefined boundary conditions. By consistently accounting for molecular interactions between fluids and solids, the unified model captures both intrinsic and apparent non-hydrodynamic effects, as well as real fluid behaviours. Rigorous comparisons with molecular dynamics simulations demonstrate that the present model accurately predicts unique features of strongly inhomogeneous fluid flows, including fluid adsorption, solvation force, velocity slip and temperature jump. Therefore, this mesoscopic model bridges the gap between molecular-scale dynamics and macroscopic hydrodynamics, enabling a practical simulation tool for nanoscale surface-confined flows. Moreover, it offers valuable insights into the molecular mechanisms underlying anomalous transport phenomena observed in confined flows, such as the disappearance and re-emergence of the Knudsen minimum.
Large-eddy simulations have been conducted to investigate the decay law of homogeneous turbulence influenced by a magnetic field within a cubic domain, employing periodic boundary conditions. The initial integral Reynolds number is approximately 1000, while the initial interaction number $N$ ranges from 0.1–100. The results reveal that the Joule cone angle $\theta$, half of the Joule cone, decays as $\cos \theta \sim t^{-1/2}$ when $N \gg 1$. In the nonlinear stage, small-scale vortices gradually recover and restore three-dimensionality. Moreover, the corresponding critical state at small scales, marking the transition from quasi-two-dimensional structure to the onset of three-dimensionality, has been quantitatively defined. During the linear stage, based on the true magnetic damping number ($\tau _t = \rho / (\sigma {\boldsymbol{B}}^2 \cos ^2 \psi )$, where $\sigma$, $\boldsymbol{B}$ and $\psi$ denote the electrical conductivity, magnetic field and the angle between the wavevector and $\boldsymbol{B}$ in Fourier space, respectively), Moffatt’s decay law, $K \sim t^{-1/2}$, manifests at distinct times and zones in the Fourier space, with $K$ signifying turbulent kinetic energy. In the nonlinear stage, for $N \gg 1$, a $-3$ slope in the energy power spectrum is prominently observed over an extended period. The near-equivalence of the characteristic time scales of inertial and Lorentz forces in the inertial subrange suggests a quasiequilibrium state between energy transfer and Joule dissipation in Fourier space, thereby corroborating the hypothesis proposed by Alemany et al. 1979 Journal de Mecanique18(2): 277–313. Additionally, it is observed that pressure mediates energy transfer from horizontal kinetic energy ($K_{\parallel }$) to vertical kinetic energy ($K_{\bot }$), accelerating the decay of $K_{\parallel }$. Notably, concurrent inverse and direct energy transfers emerge during the decay process. Our analysis reveals that the ratio $R$ of the maximum inverse to maximum direct energy flux correlates with the dimensionality of the turbulence, following the scaling law $R\sim (\cos \theta )^{-2.2}$.
The chapters in Part II are about algorithms for planning, acting, and learning using hierarchical task networks (HTNs). HTNs can describe ways to perform complex tasks without the overhead of searching through a large state space, how to avoid situations where unanticipated events are likely to cause bad outcomes, and how to recover when unanticipated events occur.
Flow over bluff bodies encounters instability at supercritical Reynolds numbers, exhibiting the periodic vortex shedding that leads to structural vibrations and acoustic noise. In this paper, a new aerodynamic shape optimisation strategy based on resolvent analysis is proposed to passively control the vortex shedding over two-dimensional cylinders. Firstly, we show that when the flow satisfies the rank-1 approximation, minimizing the maximal resolvent gain enhances flow stability. Secondly, we formulate the geometry-constrained resolvent-based optimisation problem that can be solved by the nonlinear conjugate gradient algorithm. Compared with conventional stability-based optimisation, the proposed approach is more effective as it avoids the cumbersome eigendecomposition of the high-dimensional Jacobian matrix. The efficacy of the proposed resolvent-based optimisation is validated through improving the stability of the one-dimensional Ginzburg–Landau equation. Thirdly, this approach is applied to suppress the vortex shedding of bluff bodies, initialised by a circular cylinder. Although the optimisation is performed at a subcritical state $Re = 40$, reduced vortex shedding and drag forces can be achieved at supercritical Reynolds numbers, while the critical Reynolds number is extended from $47$ to $60$. Dynamic mode decomposition is then performed to reveal that the optimised system becomes more stable and satisfies the rank-1 approximation. Finally, we demonstrate that the combined effects of the flattened surface and the Coanda effect delay flow separation, keeping the separation point nearly unchanged at supercritical Reynolds numbers (e.g. between 80 and 140) for the optimised geometry. This results in a substantial reduction in the strength of vortex shedding, which in turn leads to decreased drag forces. The optimised shape still achieves drag reduction in turbulent flows at a relatively high Reynolds number.
This chapter discusses several ways for actors to use HTN domain models. These include a way to use HTN methods for purely reactive acting, some simple ways for an actor to make use of an HTN planner, and some ways to repair HTN plans when unexpected events occur during acting.