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Encoding Lifted Classical Planning in Propositional Logic 命题逻辑中的经典规划编码
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19794
D. Höller, G. Behnke
{"title":"Encoding Lifted Classical Planning in Propositional Logic","authors":"D. Höller, G. Behnke","doi":"10.1609/icaps.v32i1.19794","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19794","url":null,"abstract":"Planning models are usually defined in lifted, i.e. first order formalisms, while most solvers need (variable-free) grounded representations. Though techniques for grounding prune unnecessary parts of the model, grounding might – nevertheless – be prohibitively expensive in terms of runtime. To overcome this issue, there has been renewed interest in solving planning problems based on the lifted representation in the last years. While these approaches are based on (heuristic) search, we present an encoding of lifted classical planning in propositional logic and use SAT solvers to solve it. Our evaluation shows that our approach is competitive with the heuristic search-based approaches in satisficing planning and outperforms them in a (length-)optimal setting.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123581400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Tuning the Hyperparameters of Anytime Planning: A Metareasoning Approach with Deep Reinforcement Learning 调优随时计划的超参数:一种基于深度强化学习的元推理方法
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19842
Abhinav Bhatia, Justin Svegliato, Samer B. Nashed, S. Zilberstein
{"title":"Tuning the Hyperparameters of Anytime Planning: A Metareasoning Approach with Deep Reinforcement Learning","authors":"Abhinav Bhatia, Justin Svegliato, Samer B. Nashed, S. Zilberstein","doi":"10.1609/icaps.v32i1.19842","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19842","url":null,"abstract":"Anytime planning algorithms often have hyperparameters that can be tuned at runtime to optimize their performance. While work on metareasoning has focused on when to interrupt an anytime planner and act on the current plan, the scope of metareasoning can be expanded to tuning the hyperparameters of the anytime planner at runtime. This paper introduces a general, decision-theoretic metareasoning approach that optimizes both the stopping point and hyperparameters of anytime planning. We begin by proposing a generalization of the standard meta-level control problem for anytime algorithms. We then offer a meta-level control technique that monitors and controls an anytime algorithm using deep reinforcement learning. Finally, we show that our approach boosts performance on a common benchmark domain that uses anytime weighted A* to solve a range of heuristic search problems and a mobile robot application that uses RRT* to solve motion planning problems.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"3 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120818663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Optimising the Stability in Plan Repair via Compilation 通过编译优化计划修复的稳定性
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19815
A. Saetti, Enrico Scala
{"title":"Optimising the Stability in Plan Repair via Compilation","authors":"A. Saetti, Enrico Scala","doi":"10.1609/icaps.v32i1.19815","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19815","url":null,"abstract":"Plan repair is the problem of solving a given planning problem by using a solution plan of a similar problem. Plan repair problems can arise in execution contexts, that is, when an agent performing the plan has to deal with some unexpected contingency that makes the given plan invalid. Repairing a plan works often much better than replanning from scratch, and is crucial when plans have to be kept stable. There is no planning system until now that guarantees to find plans at the minimum distance from an input plan. This paper presents the first approach to such a problem; we indeed introduce a simple compilation scheme that converts a classical planning problem into another where optimal plans correspond to plans with the minimum distance from an input plan. Our experiments using a number of planners show that such a simple approach can solve the plan repair problem optimally and more effectively than replanning from scratch for a large number of cases. Last but not least, the approach proves competitive with LPG-ADAPT.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123389674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Flexible FOND HTN Planning: A Complexity Analysis 灵活的FOND HTN规划:一个复杂性分析
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19782
Dillon Chen, P. Bercher
{"title":"Flexible FOND HTN Planning: A Complexity Analysis","authors":"Dillon Chen, P. Bercher","doi":"10.1609/icaps.v32i1.19782","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19782","url":null,"abstract":"Hierarchical Task Network (HTN) planning is an expressive planning formalism that has often been advocated to address real-world problems. Yet few extensions exist that can deal with the many challenges encountered in the real world, one being the capability to express uncertainty. Recently, a new HTN formalism for fully observable nondeterministic problems was proposed and studied theoretically. In this paper, we lay out limitations of that formalism and propose an alternative definition, which addresses and resolves such limitations. We also study its complexity for certain problems.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126059103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
DOMA: Deep Smooth Trajectory Generation Learning for Real-Time UAV Motion Planning 面向实时无人机运动规划的深度平滑轨迹生成学习
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19855
Jin Yu, Haiyin Piao, Yaqing Hou, L. Mo, Xin Yang, Deyun Zhou
{"title":"DOMA: Deep Smooth Trajectory Generation Learning for Real-Time UAV Motion Planning","authors":"Jin Yu, Haiyin Piao, Yaqing Hou, L. Mo, Xin Yang, Deyun Zhou","doi":"10.1609/icaps.v32i1.19855","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19855","url":null,"abstract":"In this paper, we present a Deep Reinforcement Learning (DRL) based real-time smooth UAV motion planning method for solving catastrophic flight trajectory oscillation issues. By formalizing the original problem as a linear mixture of dual-objective optimization, a novel Deep smOoth Motion plAnning (DOMA) algorithm is proposed, which adopts an alternative layer-by-layer gradient descending optimization approach with the major gradient and the DOMA gradient applied separately. Afterward, the mix weight coefficient between the two objectives is also optimized adaptively. Experimental result reveals that the proposed DOMA algorithm outperforms baseline DRL-based UAV motion planning algorithms in terms of both learning efficiency and flight motion smoothness. Furthermore, the UAV safety issue induced by trajectory oscillation is also addressed.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120943580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Simple Temporal Networks for Improvisational Teamwork 即兴团队合作的简单时间网络
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19809
Malia Morgan, Julianna Schalkwyk, Huaxiaoyue Wang, Hannah Davalos, Ryan Martinez, Vibha Rohilla, James C. Boerkoel
{"title":"Simple Temporal Networks for Improvisational Teamwork","authors":"Malia Morgan, Julianna Schalkwyk, Huaxiaoyue Wang, Hannah Davalos, Ryan Martinez, Vibha Rohilla, James C. Boerkoel","doi":"10.1609/icaps.v32i1.19809","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19809","url":null,"abstract":"When communication between teammates is limited to observations of each other's actions, agents may need to improvise to stay coordinated. Unfortunately, current methods inadequately capture the uncertainty introduced by a lack of direct communication. This paper augments existing frameworks to introduce Simple Temporal Networks for Improvisational Teamwork (STN-IT)—a formulation that captures both the temporal dependencies and uncertainties between agents who need to coordinate but lack reliable communication. We define the notion of strong controllability for STN-ITs, which establishes a static scheduling strategy for controllable agents that produces a consistent team schedule, as long as non-communicative teammates act within known problem constraints. We provide both an exact and approximate approach for finding strongly controllable schedules, empirically demonstrate the trade-offs between these approaches on benchmarks of STN-ITs, and show analytically that the exact method is correct.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121085417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
VizXP: A Visualization Framework for Conveying Explanations to Users in Model Reconciliation Problems 在模型协调问题中向用户传达解释的可视化框架
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19860
Ashwin Kumar, S. Vasileiou, Melanie Bancilhon, Alvitta Ottley, W. Yeoh
{"title":"VizXP: A Visualization Framework for Conveying Explanations to Users in Model Reconciliation Problems","authors":"Ashwin Kumar, S. Vasileiou, Melanie Bancilhon, Alvitta Ottley, W. Yeoh","doi":"10.1609/icaps.v32i1.19860","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19860","url":null,"abstract":"Advancements in explanation generation for automated planning algorithms have moved us a step closer towards realizing the full potential of human-AI collaboration in real-world planning applications. Within this context, a framework called model reconciliation has gained a lot of traction, mostly due to its deep connection with a popular theory in human psychology, known as the theory of mind. Existing literature in this setting, however, has mostly been constrained to algorithmic contributions for generating explanations. To the best of our knowledge, there has been very little work on how to effectively convey such explanations to human users, a critical component in human-AI collaboration systems. In this paper, we set out to explore to what extent visualizations are an effective candidate for conveying explanations in a way that can be easily understood. Particularly, by drawing inspiration from work done in visualization systems for classical planning, we propose a visualization framework for visualizing explanations generated from model reconciliation algorithms. We demonstrate the efficacy of our proposed system in a comprehensive user study, where we compare our framework against a text-based baseline for two types of explanations – domain-based and problem-based explanations. Results from the user study show that users, on average, understood explanations better when they are conveyed via our visualization system compared to when they are conveyed via a text-based baseline.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127817565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Beyond Stars - Generalized Topologies for Decoupled Search 超越星形——解耦搜索的广义拓扑
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19791
Daniel Gnad, Á. Torralba, Daniel Fiser
{"title":"Beyond Stars - Generalized Topologies for Decoupled Search","authors":"Daniel Gnad, Á. Torralba, Daniel Fiser","doi":"10.1609/icaps.v32i1.19791","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19791","url":null,"abstract":"Decoupled search decomposes a classical planning task by partitioning its variables such that the dependencies between the resulting factors form a star topology. In this topology, a single center factor can interact arbitrarily with a set of leaf factors. The leaves, however, can interact with each other only indirectly via the center. In this work, we generalize this structural requirement and allow arbitrary topologies. The components must not overlap, i.e., each state variable is assigned to exactly one factor, but the interaction between factors is not restricted. We show how this generalization is connected to star topologies, which implies the correctness of decoupled search with this novel type of decomposition. We introduce factoring methods that automatically identify these topologies on a given planning task. Empirically, the generalized factorings lead to increased applicability of decoupled search on standard IPC benchmarks, as well as to superior performance compared to known factoring methods.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114668994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Analyzing the Efficacy of Flexible Execution, Replanning, and Plan Optimization for a Planetary Lander 分析行星着陆器灵活执行、重新规划和计划优化的有效性
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19838
Daniel Wang, J. Russino, Connor Basich, S. Chien
{"title":"Analyzing the Efficacy of Flexible Execution, Replanning, and Plan Optimization for a Planetary Lander","authors":"Daniel Wang, J. Russino, Connor Basich, S. Chien","doi":"10.1609/icaps.v32i1.19838","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19838","url":null,"abstract":"Plan execution in unknown environments poses a number of challenges: uncertainty in domain modeling, stochasticity at execution time, and the presence of exogenous events. These challenges motivate an integrated approach to planning and execution that is able to respond intelligently to variation. We examine this problem in the context of the Europa Lander mission concept, and evaluate a planning and execution framework that responds to feedback and task failure using two techniques: flexible execution and replanning with plan optimization. We develop a theoretical framework to estimate gains from these techniques, and we compare these predictions to empirical results generated in simulation. These results indicate that an integrated approach to planning and execution leveraging flexible execution, replanning, and utility maximization shows significant promise for future tightly-constrained space missions that must address significant uncertainty.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"22 6S 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122811228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Best-First Width Search for Lifted Classical Planning 解除经典规划的最佳优先宽度搜索
International Conference on Automated Planning and Scheduling Pub Date : 2022-06-13 DOI: 10.1609/icaps.v32i1.19780
Augusto B. Corrêa, Jendrik Seipp
{"title":"Best-First Width Search for Lifted Classical Planning","authors":"Augusto B. Corrêa, Jendrik Seipp","doi":"10.1609/icaps.v32i1.19780","DOIUrl":"https://doi.org/10.1609/icaps.v32i1.19780","url":null,"abstract":"Lifted planners are useful to solve tasks that are too hard to ground. Still, computing informative lifted heuristics is difficult: directly adapting ground heuristics to the lifted setting is often too expensive, and extracting heuristics from the lifted representation can be uninformative. A natural alternative for lifted planners is to use width-based search. These algorithms are among the strongest for ground planning, even the variants that do not access the action model. In this work, we adapt best-first width search to the lifted setting and show that this yields state-of-the-art performance for hard-to-ground planning tasks.","PeriodicalId":239898,"journal":{"name":"International Conference on Automated Planning and Scheduling","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130582498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
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