Desired Convention: Inertia, i.e., minimize change. “Nothing changes unless our effect axioms say that it must.”Solution 1: frame axiomsAdd frame axioms to characterize the non-effects of actions.E.g., Poss(a,s) ? a=turnOn(Pump) ? ? on(Boiler,s) ? ? on(Boiler,do(a,s)) Poss(a,s) ? a=turnOn(Pump) ? on(Boiler,s) ? on(Boiler,do(a,s)) Poss(a,s) ? a=turnOn(Pump) ? broken(Pump,do(a,s)) ? broken(Pump,do(a,s)) ...Problem: Not parsimoniousThere are many more non-effects of actions than effects.Assuming n actions, m fluents, implies approx. nxm frame axioms!

The Frame Problem (cont.)

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