Taming Numbers and Durations in the Model Checking Integrated Planning System

The Model Checking Integrated Planning System (MIPS) is a temporal least commitment heuristic search planner based on a flexible object-oriented workbench architecture. Its design clearly separates explicit and symbolic directed exploration algorithms from the set of on-line and off-line computed estimates and associated data structures. MIPS has shown distinguished performance in the last two international planning competitions. In the last event the description language was extended from pure propositional planning to include numerical state variables, action durations, and plan quality objective functions. Plans were no longer sequences of actions but time-stamped schedules. As a participant of the fully automated track of the competition, MIPS has proven to be a general system; in each track and every benchmark domain it efficiently computed plans of remarkable quality. This article introduces and analyzes the most important algorithmic novelties that were necessary to tackle the new layers of expressiveness in the benchmark problems and to achieve a high level of performance. The extensions include critical path analysis of sequentially generated plans to generate corresponding optimal parallel plans. The linear time algorithm to compute the parallel plan bypasses known NP hardness results for partial ordering by scheduling plans with respect to the set of actions and the imposed precedence relations. The efficiency of this algorithm also allows us to improve the exploration guidance: for each encountered planning state the corresponding approximate sequential plan is scheduled. One major strength of MIPS is its static analysis phase that grounds and simplifies parameterized predicates, functions and operators, that infers knowledge to minimize the state description length, and that detects domain object symmetries. The latter aspect is analyzed in detail. MIPS has been developed to serve as a complete and optimal state space planner, with admissible estimates, exploration engines and branching cuts. In the competition version, however, certain performance compromises had to be made, including floating point arithmetic, weighted heuristic search exploration according to an inadmissible estimate and parameterized optimization

Fast Adjustable NPN Classification Using Generalized Symmetries

NPN classification of Boolean functions is a powerful technique used in many logic synthesis and technology mapping tools in FPGA design flows. Computing the canonical form of a function is the most common approach of Boolean function classification. In this paper, a novel algorithm for computing NPN canonical form is proposed. By exploiting symmetries under different phase assignments and higher-order symmetries of Boolean functions, the search space of NPN canonical form computation is pruned and the runtime is dramatically reduced. The algorithm can be adjusted to be a slow exact algorithm or a fast heuristic algorithm with lower quality. For exact classification, the proposed algorithm achieves a 30× speedup compared to a state-of-the-art algorithm. For heuristic classification, the proposed algorithm has similar performance as the state-of-the-art algorithm with a possibility to trade runtime for quality

Breaking Instance-Independent Symmetries In Exact Graph Coloring

Code optimization and high level synthesis can be posed as constraint satisfaction and optimization problems, such as graph coloring used in register allocation. Graph coloring is also used to model more traditional CSPs relevant to AI, such as planning, time-tabling and scheduling. Provably optimal solutions may be desirable for commercial and defense applications. Additionally, for applications such as register allocation and code optimization, naturally-occurring instances of graph coloring are often small and can be solved optimally. A recent wave of improvements in algorithms for Boolean satisfiability (SAT) and 0-1 Integer Linear Programming (ILP) suggests generic problem-reduction methods, rather than problem-specific heuristics, because (1) heuristics may be upset by new constraints, (2) heuristics tend to ignore structure, and (3) many relevant problems are provably inapproximable. Problem reductions often lead to highly symmetric SAT instances, and symmetries are known to slow down SAT solvers. In this work, we compare several avenues for symmetry breaking, in particular when certain kinds of symmetry are present in all generated instances. Our focus on reducing CSPs to SAT allows us to leverage recent dramatic improvement in SAT solvers and automatically benefit from future progress. We can use a variety of black-box SAT solvers without modifying their source code because our symmetry-breaking techniques are static, i.e., we detect symmetries and add symmetry breaking predicates (SBPs) during pre-processing. An important result of our work is that among the types of instance-independent SBPs we studied and their combinations, the simplest and least complete constructions are the most effective. Our experiments also clearly indicate that instance-independent symmetries should mostly be processed together with instance-specific symmetries rather than at the specification level, contrary to what has been suggested in the literature

On the Structure of Counterexamples to Symmetric Orderings for BDD's

AbstractBinary Decision Diagrams (BDDs) are used to represent boolean functions in a variety of applications. The size of a reduced ordered BDD depends on the ordering of variables. Several researchers have suggested grouping symmetric variables as a promising heuristic for finding good orderings. In this paper we study the conjecture which states that symmetric variables gather in at least one of the optimum variable orders. First, we prove some useful properties of partially symmetric functions. Next, we develop a faster procedure for finding counterexamples to this conjecture that exploits the partitioning of boolean functions into nn-equivalence classes. Third, we study the structure of counterexamples and devise a new and simple method to generate new counterexamples from given counterexamples. Finally, we present different kinds of counterexamples, which show that boolean functions are very diverse with respect to where symmetric orders can fall in the range from optimal orders to worst-case orders

From Objective Amplitudes to Bayesian Probabilities

We review the Consistent Amplitude approach to Quantum Theory and argue that quantum probabilities are explicitly Bayesian. In this approach amplitudes are tools for inference. They codify objective information about how complicated experimental setups are put together from simpler ones. Thus, probabilities may be partially subjective but the amplitudes are not.Comment: 10 pages, 2 figures. Invited paper presented at the International Conference on Foundations of Probability and Physics - 4 (Vaxjo University, Sweden, 2006). The various versions reflect my attempts to include the figures in the main body of the pape

Symmetry Properties of Nested Canalyzing Functions

Many researchers have studied symmetry properties of various Boolean functions. A class of Boolean functions, called nested canalyzing functions (NCFs), has been used to model certain biological phenomena. We identify some interesting relationships between NCFs, symmetric Boolean functions and a generalization of symmetric Boolean functions, which we call $r$-symmetric functions (where $r$ is the symmetry level). Using a normalized representation for NCFs, we develop a characterization of when two variables of an NCF are symmetric. Using this characterization, we show that the symmetry level of an NCF $f$ can be easily computed given a standard representation of $f$. We also present an algorithm for testing whether a given $r$-symmetric function is an NCF. Further, we show that for any NCF $f$ with $n$ variables, the notion of strong asymmetry considered in the literature is equivalent to the property that $f$ is $n$-symmetric. We use this result to derive a closed form expression for the number of $n$-variable Boolean functions that are NCFs and strongly asymmetric. We also identify all the Boolean functions that are NCFs and symmetric.Comment: 17 page