Knowledge compilation for online decision-making : application to the control of autonomous systems = Compilation de connaissances pour la décision en ligne : application à la conduite de systèmes autonomes

La conduite de systèmes autonomes nécessite de prendre des décisions en fonction des observations et des objectifs courants : cela implique des tâches à effectuer en ligne, avec les moyens de calcul embarqués. Cependant, il s'agit généralement de tâches combinatoires, gourmandes en temps de calcul et en espace mémoire. Réaliser ces tâches intégralement en ligne dégrade la réactivité du système ; les réaliser intégralement hors ligne, en anticipant toutes les situations possibles, nuit à son embarquabilité. Les techniques de compilation de connaissances sont susceptibles d'apporter un compromis, en déportant au maximum l'effort de calcul avant la mise en situation du système. Ces techniques consistent à traduire un problème dans un certain langage, fournissant une forme compilée de ce problème, dont la résolution est facile et la taille aussi compacte que possible. La traduction peut être très longue, mais n'est effectuée qu'une seule fois, hors ligne. Il existe de nombreux langages-cible de compilation, notamment le langage des diagrammes de décision binaires (BDDs), qui ont été utilisés avec succès dans divers domaines (model-checking, configuration, planification). L'objectif de la thèse était d'étudier l'application de la compilation de connaissances à la conduite de systèmes autonomes. Nous nous sommes intéressés à des problèmes réels de planification, qui impliquent souvent des variables continues ou à grand domaine énuméré (temps ou mémoire par exemple). Nous avons orienté notre travail vers la recherche et l'étude de langages-cible de compilation assez expressifs pour permettre de représenter de tels problèmes.Controlling autonomous systems requires to make decisions depending on current observations and objectives. This involves some tasks that must be executed online-with the embedded computational power only. However, these tasks are generally combinatory; their computation is long and requires a lot of memory space. Entirely executing them online thus compromises the system's reactivity. But entirely executing them offline, by anticipating every possible situation, can lead to a result too large to be embedded. A tradeoff can be provided by knowledge compilation techniques, which shift as much as possible of the computational effort before the system's launching. These techniques consists in a translation of a problem into some language, obtaining a compiled form of the problem, which is both easy to solve and as compact as possible. The translation step can be very long, but it is only executed once, and offline. There are numerous target compilation languages, among which the language of binary decision diagrams (BDDs), which have been successfully used in various domains of artificial intelligence, such as model-checking, configuration, or planning. The objective of the thesis was to study how knowledge compilation could be applied to the control of autonomous systems. We focused on realistic planning problems, which often involve variables with continuous domains or large enumerated domains (such as time or memory space). We oriented our work towards the search for target compilation languages expressive enough to represent such problems

On the Complexity of Optimization Problems based on Compiled NNF Representations

Optimization is a key task in a number of applications. When the set of feasible solutions under consideration is of combinatorial nature and described in an implicit way as a set of constraints, optimization is typically NP-hard. Fortunately, in many problems, the set of feasible solutions does not often change and is independent from the user's request. In such cases, compiling the set of constraints describing the set of feasible solutions during an off-line phase makes sense, if this compilation step renders computationally easier the generation of a non-dominated, yet feasible solution matching the user's requirements and preferences (which are only known at the on-line step). In this article, we focus on propositional constraints. The subsets L of the NNF language analyzed in Darwiche and Marquis' knowledge compilation map are considered. A number of families F of representations of objective functions over propositional variables, including linear pseudo-Boolean functions and more sophisticated ones, are considered. For each language L and each family F, the complexity of generating an optimal solution when the constraints are compiled into L and optimality is to be considered w.r.t. a function from F is identified

Algebraic model counting

Weighted model counting (WMC) is a well-known inference task on knowledge bases, and the basis for some of the most efficient techniques for probabilistic inference in graphical models. We introduce algebraic model counting (AMC), a generalization of WMC to a semiring structure that provides a unified view on a range of tasks and existing results. We show that AMC generalizes many well-known tasks in a variety of domains such as probabilistic inference, soft constraints and network and database analysis. Furthermore, we investigate AMC from a knowledge compilation perspective and show that all AMC tasks can be evaluated using sd-DNNF circuits, which are strictly more succinct, and thus more efficient to evaluate, than direct representations of sets of models. We identify further characteristics of AMC instances that allow for evaluation on even more succinct circuits

Temporal Constraint Satisfaction Problems and Difference Decision Diagrams: A Compilation Map

International audienceThe frameworks dedicated to the representation of quantitative temporal constraint satisfaction problems, as rich as they are in terms of expressiveness, define difficult requests - typically NP-complete decision problems. It is therefore adventurous to use them for an online resolution. Hence the idea to compile the original problem into a form that could be easily solved. Difference Decision Diagrams (DDDs) have been proposed by [1] as a possible way to cope with this difficulty, following a compilation-based approach. In this article, we draw a compilation map that evaluates the relative capabilities of these languages (TCSP, STP, DTP and DDD) in terms of algorithmic efficiency, succinctness and expressiveness

Carte de compilation des diagrammes de décision ordonnés a valeurs réelles

National audienceValued decision diagrams (VDDs) are data structures that represent functions mapping variable-value assignments to non-negative real numbers. They prove useful to compile cost functions, utility functions, or probability distributions. While the complexity of some queries (notably optimization) and transformations (notably conditioning) on VDD languages has been known for some time, there remain many significant queries and transformations, such as the various kinds of cuts, marginalizations, and combinations, the complexity of which has not been identified so far. This paper contributes to filling this gap and completing previous results about the time and space efficiency of VDD languages, thus leading to a knowledge compilation map for real-valued functions. Our results show that many tasks that are hard on valued CSPs are actually tractable on VDDs.Les diagrammes de décision valués (VDDs) sont des structures de données représentant des fonctions à valeurs réelles positives. Ces structures sont utiles pour la compilation de fonctions de coût ou d'utilité, ou encore de distributions de probabilités. Si la complexité de certaines requêtes (comme l'optimisation) et de certaines transformations (comme le conditionnement) sur de tels langages est bien connue, il reste de nombreuses requêtes et transformations importantes dont la complexité n'a pas encore été identifiée ; figurent parmi elles différents types de coupes, marginalisations, ou encore combinaisons. En établissant une carte de compilation des diagrammes de décision ordonnés à valeurs réelles, cet article contribue à combler ce manque. Nos résultats montrent que beaucoup de tâches difficiles à partir de CSPs valués sont traitables à partir de VDDs