第Ⅰ部分人工智能
第1 章绪论..................................................................................................................................3
1.1
什么是人工智能.............................................................................................................3
1.2
人工智能的基础.............................................................................................................6
1.3
人工智能的历史...........................................................................................................16
1.4
最新发展水平...............................................................................................................27
1.5
本章小结.......................................................................................................................28 参考文献与历史注释............................................................................................................29 习题........................................................................................................................................29
第2章智能Agent.....................................................................................................................32
2.1
Agent 和环境................................................................................................................32
2.2
好的行为：理性的概念...............................................................................................34
2.3
环境的性质...................................................................................................................37
2.4
Agent 的结构................................................................................................................41
2.5
本章小结.......................................................................................................................52 参考文献与历史注释............................................................................................................52 习题........................................................................................................................................54
第Ⅱ部分问题求解
第3 章通过搜索进行问题求解................................................................................................59
3.1
问题求解Agent............................................................................................................59
3.2
问题实例.......................................................................................................................64
3.3
通过搜索求解...............................................................................................................68
3.4
无信息搜索策略...........................................................................................................73
3.5
有信息（启发式）的搜索策略...................................................................................82
3.6
启发式函数...................................................................................................................91
3.7
本章小结.......................................................................................................................95 参考文献与历史注释............................................................................................................96 习题........................................................................................................................................99
第4 章超越经典搜索..............................................................................................................105
4.1
局部搜索算法和最优化问题.....................................................................................105
4.2
连续空间中的局部搜索.............................................................................................113
4.3
使用不确定动作的搜索.............................................................................................115
4.4
使用部分可观察信息的搜索.....................................................................................119
4.5
联机搜索Agent 和未知环境.....................................................................................126
4.6
本章小结.....................................................................................................................131 参考文献与历史注释..........................................................................................................131 习题......................................................................................................................................134
第5 章对抗搜索......................................................................................................................137
5.1
博弈.............................................................................................................................137
5.2
博弈中的优化决策.....................................................................................................139
5.3
α-β剪枝.......................................................................................................................141
5.4
不完美的实时决策.....................................................................................................144
5.5
随机博弈.....................................................................................................................149
5.6
部分可观察的博弈.....................................................................................................152
5.7
博弈程序发展现状.....................................................................................................155
5.8
其他途径.....................................................................................................................157
5.9
本章小结.....................................................................................................................159 参考文献与历史注释..........................................................................................................159 习题......................................................................................................................................164
第6 章约束满足问题..............................................................................................................169
6.1
定义约束满足问题.....................................................................................................169
6.2
约束传播：CSP 中的推理.........................................................................................173
6.3
CSP 的回溯搜索.........................................................................................................178
6.4
CSP 局部搜索.............................................................................................................183
6.5
问题的结构.................................................................................................................184
6.6
本章小结.....................................................................................................................188 参考文献与历史注释..........................................................................................................188 习题......................................................................................................................................191
第Ⅲ部分知识、推理与规划
第7章逻辑Agent...................................................................................................................197
7.1
基于知识的Agent......................................................................................................197
7.2
Wumpus 世界..............................................................................................................199
7.3
逻辑.............................................................................................................................201
7.4
命题逻辑：一种简单逻辑.........................................................................................204
7.5
命题逻辑定理证明.....................................................................................................209
7.6
有效的命题逻辑模型检验.........................................................................................217
7.7
基于命题逻辑的Agent..............................................................................................221
7.8
本章小结.....................................................................................................................229
目录11
参考文献与历史注释..........................................................................................................230 习题......................................................................................................................................233 第8 章一阶逻辑......................................................................................................................238
8.1
重温表示.....................................................................................................................238
8.2
一阶逻辑的语法和语义.............................................................................................242
8.3
运用一阶逻辑.............................................................................................................250
8.4
一阶逻辑的知识工程.................................................................................................255
8.5
本章小结.....................................................................................................................260 参考文献与历史注释..........................................................................................................261 习题......................................................................................................................................262
第9 章一阶逻辑的推理..........................................................................................................268
9.1
命题推理与一阶推理.................................................................................................268
9.2
合一和提升.................................................................................................................270
9.3
前向链接.....................................................................................................................274
9.4
反向链接.....................................................................................................................280
9.5
归结.............................................................................................................................287
9.6
本章小结.....................................................................................................................296 参考文献与历史注释..........................................................................................................297 习题......................................................................................................................................299
第10章经典规划....................................................................................................................304
10.1
经典规划的定义.......................................................................................................304
10.2
状态空间搜索规划算法...........................................................................................309
10.3
规划图.......................................................................................................................314
10.4
其他经典规划方法...................................................................................................321
10.5
规划方法分析...........................................................................................................325
10.6
本章小结...................................................................................................................326 参考文献与历史注释..........................................................................................................326 习题......................................................................................................................................329
第11章现实世界的规划与行动............................................................................................332
11.1
时间、调度和资源...................................................................................................332
11.2
分层规划...................................................................................................................336
11.3
非确定性领域中的规划与行动...............................................................................343
11.4
多Agent 规划...........................................................................................................351
11.5
本章小结...................................................................................................................355 参考文献与历史注释..........................................................................................................356 习题......................................................................................................................................359
第12章知识表示....................................................................................................................361
12.1
本体论工程...............................................................................................................361
12.2
类别和对象...............................................................................................................363
12.3
事件...........................................................................................................................368
12.4
精神事件和精神对象...............................................................................................372
12.5
类别的推理系统.......................................................................................................375
12.6
缺省信息推理...........................................................................................................379
12.7
互联网购物世界.......................................................................................................383
12.8
本章小结...................................................................................................................387 参考文献与历史注释..........................................................................................................388 习题......................................................................................................................................392
第Ⅳ部分不确定知识与推理
第13章不确定性的量化........................................................................................................401
13.1
不确定环境下的行动...............................................................................................401
13.2
基本概率符号...........................................................................................................404
13.3
使用完全联合分布进行推理...................................................................................410
13.4
独立性.......................................................................................................................413
13.5
贝叶斯规则及其应用...............................................................................................414
13.6
重游wumpus 世界...................................................................................................417
13.7
本章小结...................................................................................................................420 参考文献与历史注释..........................................................................................................420 习题......................................................................................................................................422
第14章概率推理....................................................................................................................426
14.1
不确定性问题域中的知识表示...............................................................................426
14.2
贝叶斯网络的语义...................................................................................................428
14.3
条件分布的有效表示...............................................................................................433
14.4
贝叶斯网络中的精确推理.......................................................................................436
14.5
贝叶斯网络中的近似推理.......................................................................................443
14.6
关系和一阶概率模型...............................................................................................450
14.7
不确定推理的其他方法...........................................................................................456
14.8
本章小结...................................................................................................................461 参考文献与历史注释..........................................................................................................461 习题......................................................................................................................................466
第15章时间上的概率推理....................................................................................................473
15.1
时间与不确定性.......................................................................................................473
15.2
时序模型中的推理...................................................................................................476
15.3
隐马尔可夫模型.......................................................................................................483
15.4
卡尔曼滤波器...........................................................................................................487
15.5
动态贝叶斯网络.......................................................................................................493
15.6
跟踪多个对象...........................................................................................................500
15.7
本章小结...................................................................................................................503 参考文献与历史注释..........................................................................................................503 习题......................................................................................................................................506
目录13
第16章制定简单决策............................................................................................................509
16.1
在不确定环境下结合信念与愿望...........................................................................509
16.2
效用理论基础...........................................................................................................510
16.3
效用函数...................................................................................................................513
16.4
多属性效用函数.......................................................................................................519
16.5
决策网络...................................................................................................................522
16.6
信息价值...................................................................................................................524
16.7
决策理论专家系统...................................................................................................528
16.8
本章小结...................................................................................................................530 参考文献与历史注释..........................................................................................................531 习题......................................................................................................................................534
第17章制定复杂决策............................................................................................................538
17.1
序列式决策问题.......................................................................................................538
17.2
价值迭代...................................................................................................................543
17.3
策略迭代...................................................................................................................547
17.4
部分可观察的MDP.................................................................................................548
17.5
多Agent 的决策：博弈论.......................................................................................555
17.6
机制设计...................................................................................................................565
17.7
本章小结...................................................................................................................570 参考文献与历史注释..........................................................................................................570 习题......................................................................................................................................573
第Ⅴ部分学习
第18章样例学习....................................................................................................................579
18.1
学习形式...................................................................................................................579
18.2
监督学习...................................................................................................................581
18.3
学习决策树...............................................................................................................582
18.4
评估和选择最佳假说...............................................................................................591
18.5
学习理论...................................................................................................................595
18.6
带线性模型的回归和分类.......................................................................................599
18.7
人工神经网...............................................................................................................606
18.8
非参数化模型...........................................................................................................614
18.9
支持向量机...............................................................................................................619
18.10
组合学习.................................................................................................................622
18.11
机器学习实例.........................................................................................................626
18.12
本章小结.................................................................................................................629 参考文献与历史注释..........................................................................................................630 习题......................................................................................................................................634
第19章学习中的知识............................................................................................................639
19.1
学习的逻辑公式化...................................................................................................639
19.2
学习中的知识...........................................................................................................645
19.3
基于解释的学习.......................................................................................................648
19.4
使用相关性信息学习...............................................................................................651
19.5
归纳逻辑程序设计...................................................................................................654
19.6
本章小结...................................................................................................................662 参考文献与历史注释..........................................................................................................662 练习......................................................................................................................................664
第20章学习概率模型............................................................................................................666
20.1
统计学习...................................................................................................................666
20.2
带完整数据的学习...................................................................................................669
20.3
隐变量学习：EM 算法............................................................................................677
20.4
本章小结...................................................................................................................684 参考文献与历史注释..........................................................................................................684 习题......................................................................................................................................686
第21章强化学习....................................................................................................................688
21.1
引言...........................................................................................................................688
21.2
被动强化学习...........................................................................................................689
21.3
主动强化学习...........................................................................................................695
21.4
强化学习中的泛化...................................................................................................700
21.5
策略搜索...................................................................................................................702
21.6
强化学习的应用.......................................................................................................704
21.7
本章小结...................................................................................................................706 参考文献与历史注释..........................................................................................................707 习题......................................................................................................................................710
第Ⅵ部分通讯、感知与行动
第22章自然语言处理............................................................................................................715
22.1
语言模型...................................................................................................................715
22.2
文本分类...................................................................................................................719
22.3
信息检索...................................................................................................................721
22.4
信息抽取...................................................................................................................727
22.5
本章小结...................................................................................................................735 参考文献与历史注释..........................................................................................................735
目录15
习题......................................................................................................................................737 第23章用于通讯的自然语言................................................................................................740
23.1
短语结构语法...........................................................................................................740
23.2
句法分析...................................................................................................................743
23.3
扩展文法和语义解释...............................................................................................747
23.4
机器翻译...................................................................................................................755
23.5
语音识别...................................................................................................................760
23.6
本章小结...................................................................................................................765 参考文献与历史注释..........................................................................................................766 习题......................................................................................................................................769
第24章感知............................................................................................................................774
24.1
图像生成...................................................................................................................775
24.2
图像预处理...............................................................................................................780
24.3
基于外观的物体识别...............................................................................................785
24.4
重建三维世界...........................................................................................................789
24.5
基于结构的物体识别...............................................................................................797
24.6
视觉应用...................................................................................................................799
24.7
本章小结...................................................................................................................802 参考文献与历史注释..........................................................................................................803 习题......................................................................................................................................805
第25章机器人学....................................................................................................................807
25.1
引言...........................................................................................................................807
25.2
机器人硬件...............................................................................................................809
25.3
机器人的感知...........................................................................................................813
25.4
运动规划...................................................................................................................819
25.5
规划不确定的运动...................................................................................................825
25.6
运动...........................................................................................................................828
25.7
机器人软件体系结构...............................................................................................833
25.8
应用领域...................................................................................................................836
25.9
本章小结...................................................................................................................839 参考文献与历史注释..........................................................................................................840 习题......................................................................................................................................843
第Ⅶ部分结论
第26章哲学基础....................................................................................................................851
26.1
弱人工智能：机器能够智能地行动吗...................................................................851
26.2
强人工智能：机器真能思考吗...............................................................................856
26.3
发展人工智能的道德规范与风险...........................................................................862
26.4
本章小结...................................................................................................................868 参考文献与历史注释..........................................................................................................868 习题......................................................................................................................................870
第27章人工智能：现状与未来............................................................................................872
27.1
Agent 的组成部分....................................................................................................872
27.2
Agent 的体系结构....................................................................................................874
27.3
我们在沿着正确的方向前进吗...............................................................................876
27.4 如果人工智能成功了会怎样...................................................................................877 附录A 数学背景......................................................................................................................879
A.1 复杂度分析与O()符号..............................................................................................879
A.2 向量、矩阵和线性代数............................................................................................881
A.3 概率分布....................................................................................................................882
参考文献与历史注释..........................................................................................................884 附录B 关于语言和算法的注释..............................................................................................885
B.1 用巴科斯范式（BNF ）定义语言............................................................................885
B.2 算法的伪代码描述....................................................................................................886
B.3 联机帮助....................................................................................................................887 参考文献......................................................................................................................................888
