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Artificial Intelligence
A Modern Approach
Fourth Edition
PEARSON SERIES
IN ARTIFICIAL INTELLIGENCE
Fourth Edition
Ming-Wei Chang
Jacob Devlin
Anca Dragan
David Forsyth
Ian Goodfellow
Jitendra M. Malik
Vikash Mansinghka
Judea Pearl
Michael Wooldridge
Copyright © 2021, 2010, 2003 by Pearson Education, Inc. or its affiliates, 221 River Street,
Hoboken, NJ 07030. All Rights Reserved. Manufactured in the United States of America.
This publication is protected by copyright, and permission should be obtained from the
Acknowledgments of third-party content appear on the appropriate page within the text.
Cover Images:
Unless otherwise indicated herein, any third-party trademarks, logos, or icons that may
appear in this work are the property of their respective owners, and any references to third-
party trademarks, logos, icons, or other trade dress are for demonstrative or descriptive
purposes only. Such references are not intended to imply any sponsorship, endorsement,
authorization, or promotion of Pearson’s products by the owners of such marks, or any
relationship between the owner and Pearson Education, Inc., or its affiliates, authors,
licensees, or distributors.
Title: Artificial intelligence : a modern approach / Stuart J. Russell and Peter Norvig.
Description: Fourth edition. | Hoboken : Pearson, [2021] | Series: Pearson series in artificial
intelligence | Includes bibliographical references and index. | Summary: “Updated edition
ScoutAutomatedPrintCode
ISBN-10: 0-13-461099-7
ISBN-13: 978-0-13-461099-3
For Loy, Gordon, Lucy, George, and Isaac — S.J.R.
perception, reasoning, learning, and action; fairness, trust, social good, and safety; and
applications that range from microelectronic devices to robotic planetary explorers to online
services with billions of users.
The subtitle of this book is “A Modern Approach.” That means we have chosen to tell the
story from a current perspective. We synthesize what is now known into a common
framework, recasting early work using the ideas and terminology that are prevalent today.
We apologize to those whose subfields are, as a result, less recognizable.
The coverage of natural language understanding, robotics, and computer vision has
been revised to reflect the impact of deep learning.
The robotics chapter now includes robots that interact with humans and the application
of reinforcement learning to robotics.
Previously we defined the goal of AI as creating systems that try to maximize expected
utility, where the specific utility information—the objective—is supplied by the human
designers of the system. Now we no longer assume that the objective is fixed and
known by the AI system; instead, the system may be uncertain about the true objectives
of the humans on whose behalf it operates. It must learn what to maximize and must
Overall, about 25% of the material in the book is brand new. The remaining 75% has
been largely rewritten to present a more unified picture of the field. 22% of the citations
in this edition are to works published after 2010.
implements a function that maps percept sequences to actions, and we cover different ways
to represent these functions, such as reactive agents, real-time planners, decision-theoretic
systems, and deep learning systems. We emphasize learning both as a construction method
for competent systems and as a way of extending the reach of the designer into unknown
environments. We treat robotics and vision not as independently defined problems, but as
occurring in the service of achieving goals. We stress the importance of the task
environment in determining the appropriate agent design.
Our primary aim is to convey the ideas that have emerged over the past seventy years of AI
research and the past two millennia of related work. We have tried to avoid excessive
formality in the presentation of these ideas, while retaining precision. We have included
mathematical formulas and pseudocode algorithms to make the key ideas concrete;
mathematical concepts and notation are described in Appendix A and our pseudocode is
described in Appendix B .
This book is primarily intended for use in an undergraduate course or course sequence. The
book has 28 chapters, each requiring about a week’s worth of lectures, so working through
the whole book requires a two-semester sequence. A one-semester course can use selected
chapters to suit the interests of the instructor and students. The book can also be used in a
graduate-level course (perhaps with the addition of some of the primary sources suggested
in the bibliographical notes), or for self-study or as a reference.
Throughout the book, important points are marked with a triangle icon in the margin.
Wherever a new term is defined, it is also noted in the margin. Subsequent significant uses
of the term are in bold, but not in the margin. We have included a comprehensive index and
an extensive bibliography.
Term
The only prerequisite is familiarity with basic concepts of computer science (algorithms,
data structures, complexity) at a sophomore level. Freshman calculus and linear algebra are
useful for some of the topics.
Online resources
Online resources are available through pearsonhighered.com/cs-resources or at the
book’s Web site, aima.cs.berkeley.edu. There you will find:
Exercises, programming projects, and research projects. These are no longer at the end
of each chapter; they are online only. Within the book, we refer to an online exercise
with a name like “Exercise 6.NARY.” Instructions on the Web site allow you to find
exercises by name or by topic.
Implementations of the algorithms in the book in Python, Java, and other programming
languages (currently hosted at github.com/aimacode).
A list of over 1400 schools that have used the book, many with links to online course
materials and syllabi.
Supplementary material and links for students and instructors.
Instructions on how to report errors in the book, in the likely event that some exist.
Book cover
The cover depicts the final position from the decisive game 6 of the 1997 chess match in
which the program Deep Blue defeated Garry Kasparov (playing Black), making this the first
time a computer had beaten a world champion in a chess match. Kasparov is shown at the
top. To his right is a pivotal position from the second game of the historic Go match
between former world champion Lee Sedol and DeepMind’s ALPHAGO program. Move 37 by
ALPHAGO violated centuries of Go orthodoxy and was immediately seen by human experts as
an embarrassing mistake, but it turned out to be a winning move. At top left is an Atlas
humanoid robot built by Boston Dynamics. A depiction of a self-driving car sensing its
environment appears between Ada Lovelace, the world’s first computer programmer, and
Alan Turing, whose fundamental work defined artificial intelligence. At the bottom of the
chess board are a Mars Exploration Rover robot and a statue of Aristotle, who pioneered the
study of logic; his planning algorithm from De Motu Animalium appears behind the authors’
names. Behind the chess board is a probabilistic programming model used by the UN
Comprehensive Nuclear-Test-Ban Treaty Organization for detecting nuclear explosions
from seismic signals.
Acknowledgments
It takes a global village to make a book. Over 600 people read parts of the book and made
suggestions for improvement. The complete list is at aima.cs.berkeley.edu/ack.html;
we are grateful to all of them. We have space here to mention only a few especially
important contributors. First the contributing writers:
Stuart would like to thank his wife, Loy Sheflott, for her endless patience and boundless
wisdom. He hopes that Gordon, Lucy, George, and Isaac will soon be reading this book after
they have forgiven him for working so long on it. RUGS (Russell’s Unusual Group of
Peter would like to thank his parents (Torsten and Gerda) for getting him started, and his
wife (Kris), children (Bella and Juliet), colleagues, boss, and friends for encouraging and
tolerating him through the long hours of writing and rewriting.
About the Authors
STUART RUSSELL was born in 1962 in Portsmouth, England. He received his B.A. with
first-class honours in physics from Oxford University in 1982, and his Ph.D. in computer
science from Stanford in 1986. He then joined the faculty of the University of California at
Berkeley, where he is a professor and former chair of computer science, director of the
Center for Human-Compatible AI, and holder of the Smith–Zadeh Chair in Engineering. In
1990, he received the Presidential Young Investigator Award of the National Science
Foundation, and in 1995 he was cowinner of the Computers and Thought Award. He is a
Fellow of the American Association for Artificial Intelligence, the Association for Computing
Machinery, and the American Association for the Advancement of Science, an Honorary
Fellow of Wadham College, Oxford, and an Andrew Carnegie Fellow. He held the Chaire
Blaise Pascal in Paris from 2012 to 2014. He has published over 300 papers on a wide range
of topics in artificial intelligence. His other books include The Use of Knowledge in Analogy and
Induction, Do the Right Thing: Studies in Limited Rationality (with Eric Wefald), and Human
Compatible: Artificial Intelligence and the Problem of Control.
PETER NORVIG is currently a Director of Research at Google, Inc., and was previously the
director responsible for the core Web search algorithms. He co-taught an online AI class
that signed up 160,000 students, helping to kick off the current round of massive open
online classes. He was head of the Computational Sciences Division at NASA Ames
Research Center, overseeing research and development in artificial intelligence and
robotics. He received a B.S. in applied mathematics from Brown University and a Ph.D. in
computer science from Berkeley. He has been a professor at the University of Southern
California and a faculty member at Berkeley and Stanford. He is a Fellow of the American
Association for Artificial Intelligence, the Association for Computing Machinery, the
American Academy of Arts and Sciences, and the California Academy of Science. His other
books are Paradigms of AI Programming: Case Studies in Common Lisp, Verbmobil: A Translation
System for Face-to-Face Dialog, and Intelligent Help Systems for UNIX.
The two authors shared the inaugural AAAI/EAAI Outstanding Educator award in 2016.
Exploring the Variety of Random
Documents with Different Content
“In spite of the difficulties of handling the vast intricate masses of
still fluid material, the contributors have given readable and yet
valuable summaries of the progress of thought. For the beginner,
there could be no better introduction to the essential contributions of
man’s recent achievement.” M. J.
20–11894
“The story is frank and sincere and full of isolated perceptions that
are both searching and beautiful. But it is also thin and scrappy and
disjointed, and the complete shadowiness of all the characters robs
its theories of the inner energy of a human content. In a word,
Madame Marx has felt very deeply and reflected intensely, and those
who agreed with her passionately have taken it for granted that she
has written a great book. But that is taking for granted far too much.”
Ludwig Lewisohn
“It does seem to me that the book might more appropriately have
been called ‘A woman.’ For the rest, the book is perfervid in a way
that we do not quite like in America, perhaps because we are not
wholly acclimated to it. It has pages of unusual beauty, and a high
degree of unity and directness.”
20–13322
The long narrative poem of the title depicts courage born of love
and begetting the brotherhood of man even in the untamed. A fair
damsel is carried off by a pirate galley into the captivity of a khalif’s
harem. Her lover follows into slavery to rescue her. He does so with
the aid of a brother slave who must kill a traitor to accomplish their
purpose. Recaptured and brought before the khalif they are set free
because their tale causes human stirrings in the hawk breast of the
latter. The other poems are: The hounds of hell; Cap on head;
Sonnets; The passing strange; Animula; The Lemmings; Forget; On
growing old; Lyric.
+ Ath p718 My 28 ’20 60w
“Mr Masefield is the single poet writing in English today who both
in popular esteem and by the most exacting critical estimate
legitimately belongs to the august line of poets who are among the
chief glories of our race: to his greatness no journalistic cavil can add
or take away.” R. M. Weaver
“In this poem, [On growing old], as in so many aspects of the other
poems in this volume, one feels the shadows of the world, deepened
by the tumult of war, settling upon the radiance of a brave visionary
spirit. The thrill, the excitement, the adventures of living are all now
subdued to this key of sadness, in which the passion and beauty that
was once a flame becomes an effable glow.” W. S. B.
“One of the signs that the times are good in English poetry is the
fact that Mr Masefield keeps on writing poems which tell stories.”
Mark Van Doren
“In his latest volume there are some serious offenses against
rhyming, euphony, and scansion, but in the larger aspects, in the
essential substance and indescribable quality of authentic poesy, he
is more richly endowed than any other living writer.” Lawrence
Mason
[2]
MASEFIELD, JOHN. Right Royal. *$1.75
Macmillan 821
20–18954
“It is growing very trite to say that Mr Masefield does this thing or
that thing better than any contemporary poet. He does the things
that nobody else does and is thus in competition with himself. ‘Right
Royal’ may not be as fine a poem as ‘Enslaved,’ but no one can
dispute that it is the best narrative of a horse-race that has been
written by any modern poet.” W: S. Braithwaite
Reviewed by R: Le Gallienne
Reviewed by G: D. Procter
20–18656
“It is a splendid story which Mr Mason has written, based upon his
experiences in the war, full of dramatic vigor—a real novel in every
sense of the word—and permeated with the atmosphere of England,
Spain, and Egypt.”
20–19236
“As a story of the sea it ranks with the best of Jack London or
Morgan Robertson, and as a story of the uncanny it is comparable
with ‘Dracula’ and ‘The master of Ballantrae.’”
20–26543
“A handy book intended for the untrained shorthand student who
is ambitious to secure a good position without previous experience.”
(Title page) The book is adapted for use as a text in business schools
and in high school commercial departments. There are thirteen
chapters, entitled: Your attention, please! “Safety first”; What
business men expect of a stenographer; Preparedness; Your “busy”
day; Taking the business letter; Transcribing the business letter;
Typing the business letter; Typing business forms; The use and care
of the typewriter; Words: their use and abuse; Filing letters; Time-
saving office appliances. There are two appendixes giving postal
regulations and information regarding the civil service.
19–15403
“A charming autobiography.”
“His narrative, like his music, reveals facility, grace, and charm,
and is alternately gay and sentimental to the point of pathos. One is
not very much wiser after reading the book, but one closes it with a
certain regret at parting from such amiable company.” Henrietta
Straus
20–4452
20–26887
“The word which fits his style exactly is one of the best adjectives
in our language which the language is guilty of criminal negligence in
permitting itself gradually to lose—the word ‘lusty.’ If it were dead
instead of merely decaying, it might be recalled to life by the easy,
careless, rushing vigor of Mr Massingham’s undaunted prose.”
(Eng ed 20–10754)
“Mr Massingham has marked out as his claim the most
characteristic part of the century in time, and has not excluded any
kind except the dramatic. Most of his selections are naturally lyrical,
but by no means all; and he has thus been able to find room for at
least specimen fruits from the half-wilderness gardens of
‘Pharonnida’ and ‘Cupid and Psyche.’ He has also cast his gathering
net unusually wide, and his readers will make acquaintance with
authors who will pretty certainly be new to them, such as Thomas
Fettiplace and Robert Gomersal. In giving uniform modern spelling
throughout Mr Massingham may invite censure from some purists,
but certainly not in this place. Whatever may be the case earlier, the
printers’ spelling of the mid-seventeenth century is, as he justly says,
‘only externally archaic.’ Half its differences from present use are not
uniform and are evidently haphazard. One may not perhaps approve
quite so heartily his practice of excluding some beautiful things as
‘too well known.’ The authors are alphabetically arranged.”—Ath
Reviewed by G: Saintsbury