2,235 research outputs found

    Sampling-Based Methods for Factored Task and Motion Planning

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    This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the intersection of several constraints each affecting a subset of the state and control variables. Robotic manipulation problems with many movable objects involve constraints that only affect several variables at a time and therefore exhibit large amounts of factoring. We develop a theoretical framework for solving factored transition systems with sampling-based algorithms. The framework characterizes conditions on the submanifold in which solutions lie, leading to a characterization of robust feasibility that incorporates dimensionality-reducing constraints. It then connects those conditions to corresponding conditional samplers that can be composed to produce values on this submanifold. We present two domain-independent, probabilistically complete planning algorithms that take, as input, a set of conditional samplers. We demonstrate the empirical efficiency of these algorithms on a set of challenging task and motion planning problems involving picking, placing, and pushing

    The 1990 progress report and future plans

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    This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers

    Exploring run-time reduction in programming codes via query optimization and caching

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    Object oriented programming languages raised the level of abstraction by supporting the explicit first class query constructs in the programming codes. These query constructs allow programmers to express operations on collections more abstractly than relying on their realization in loops or through provided libraries. Join optimization techniques from the field of database technology support efficient realizations of such language constructs. However, the problem associated with the existing techniques such as query optimization in Java Query Language (JQL) incurs run time overhead. Besides the programming languages supporting first-class query constructs, the usage of annotations has also increased in the software engineering community recently. Annotations are a common means of providing metadata information to the source code. The object oriented programming languages such as C# provides attributes constraints and Java has its own annotation constructs that allow the developers to include the metadata information in the program codes. This work introduces a series of query optimization approaches to reduce the run time of the programs involving explicit queries over collections. The proposed approaches rely on histograms to estimate the selectivity of the predicates and the joins in order to construct the query plans. The annotations in the source code are also utilized to gather the metadata required for the selectivity estimation of the numerical as well as the string valued predicates and joins in the queries. Several cache heuristics are proposed that effectively cache the results of repeated queries in the program codes. The cached query results are incrementally maintained up-to-date after the update operations to the collections --Abstract, page iv

    CBR and MBR techniques: review for an application in the emergencies domain

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    The purpose of this document is to provide an in-depth analysis of current reasoning engine practice and the integration strategies of Case Based Reasoning and Model Based Reasoning that will be used in the design and development of the RIMSAT system. RIMSAT (Remote Intelligent Management Support and Training) is a European Commission funded project designed to: a.. Provide an innovative, 'intelligent', knowledge based solution aimed at improving the quality of critical decisions b.. Enhance the competencies and responsiveness of individuals and organisations involved in highly complex, safety critical incidents - irrespective of their location. In other words, RIMSAT aims to design and implement a decision support system that using Case Base Reasoning as well as Model Base Reasoning technology is applied in the management of emergency situations. This document is part of a deliverable for RIMSAT project, and although it has been done in close contact with the requirements of the project, it provides an overview wide enough for providing a state of the art in integration strategies between CBR and MBR technologies.Postprint (published version

    Egocentric Planning for Scalable Embodied Task Achievement

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    Embodied agents face significant challenges when tasked with performing actions in diverse environments, particularly in generalizing across object types and executing suitable actions to accomplish tasks. Furthermore, agents should exhibit robustness, minimizing the execution of illegal actions. In this work, we present Egocentric Planning, an innovative approach that combines symbolic planning and Object-oriented POMDPs to solve tasks in complex environments, harnessing existing models for visual perception and natural language processing. We evaluated our approach in ALFRED, a simulated environment designed for domestic tasks, and demonstrated its high scalability, achieving an impressive 36.07% unseen success rate in the ALFRED benchmark and winning the ALFRED challenge at CVPR Embodied AI workshop. Our method requires reliable perception and the specification or learning of a symbolic description of the preconditions and effects of the agent's actions, as well as what object types reveal information about others. It is capable of naturally scaling to solve new tasks beyond ALFRED, as long as they can be solved using the available skills. This work offers a solid baseline for studying end-to-end and hybrid methods that aim to generalize to new tasks, including recent approaches relying on LLMs, but often struggle to scale to long sequences of actions or produce robust plans for novel tasks

    Conflict-driven learning in AI planning state-space search

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    Many combinatorial computation problems in computer science can be cast as a reachability problem in an implicitly described, potentially huge, graph: the state space. State-space search is a versatile and widespread method to solve such reachability problems, but it requires some form of guidance to prevent exploring that combinatorial space exhaustively. Conflict-driven learning is an indispensable search ingredient for solving constraint satisfaction problems (most prominently, Boolean satisfiability). It guides search towards solutions by identifying conflicts during the search, i.e., search branches not leading to any solution, learning from them knowledge to avoid similar conflicts in the remainder of the search. This thesis adapts the conflict-driven learning methodology to more general classes of reachability problems. Specifically, our work is placed in AI planning. We consider goal-reachability objectives in classical planning and in planning under uncertainty. The canonical form of "conflicts" in this context are dead-end states, i.e., states from which the desired goal property cannot be reached. We pioneer methods for learning sound and generalizable dead-end knowledge from conflicts encountered during forward state-space search. This embraces the following core contributions: When acting under uncertainty, the presence of dead-end states may make it impossible to satisfy the goal property with absolute certainty. The natural planning objective then is MaxProb, maximizing the probability of reaching the goal. However, algorithms for MaxProb probabilistic planning are severely underexplored. We close this gap by developing a large design space of probabilistic state-space search methods, contributing new search algorithms, admissible state-space reduction techniques, and goal-probability bounds suitable for heuristic state-space search. We systematically explore this design space through an extensive empirical evaluation. The key to our conflict-driven learning algorithm adaptation are unsolvability detectors, i.e., goal-reachability overapproximations. We design three complementary families of such unsolvability detectors, building upon known techniques: critical-path heuristics, linear-programming-based heuristics, and dead-end traps. We develop search methods to identify conflicts in deterministic and probabilistic state spaces, and we develop suitable refinement methods for the different unsolvability detectors so to recognize these states. Arranged in a depth-first search, our techniques approach the elegance of conflict-driven learning in constraint satisfaction, featuring the ability to learn to refute search subtrees, and intelligent backjumping to the root cause of a conflict. We provide a comprehensive experimental evaluation, demonstrating that the proposed techniques yield state-of-the-art performance for finding plans for solvable classical planning tasks, proving classical planning tasks unsolvable, and solving MaxProb in probabilistic planning, on benchmarks where dead-end states abound.Viele kombinatorisch komplexe Berechnungsprobleme in der Informatik lassen sich als Erreichbarkeitsprobleme in einem implizit dargestellten, potenziell riesigen, Graphen - dem Zustandsraum - verstehen. Die Zustandsraumsuche ist eine weit verbreitete Methode, um solche Erreichbarkeitsprobleme zu lösen. Die Effizienz dieser Methode hĂ€ngt aber maßgeblich von der Verwendung strikter Suchkontrollmechanismen ab. Das konfliktgesteuerte Lernen ist eine essenzielle Suchkomponente fĂŒr das Lösen von Constraint-Satisfaction-Problemen (wie dem ErfĂŒllbarkeitsproblem der Aussagenlogik), welches von Konflikten, also Fehlern in der Suche, neue Kontrollregeln lernt, die Ă€hnliche Konflikte zukĂŒnftig vermeiden. In dieser Arbeit erweitern wir die zugrundeliegende Methodik auf Zielerreichbarkeitsfragen, wie sie im klassischen und probabilistischen Planen, einem Teilbereich der KĂŒnstlichen Intelligenz, auftauchen. Die kanonische Form von „Konflikten“ in diesem Kontext sind sog. Sackgassen, ZustĂ€nde, von denen aus die Zielbedingung nicht erreicht werden kann. Wir prĂ€sentieren Methoden, die es ermöglichen, wĂ€hrend der Zustandsraumsuche von solchen Konflikten korrektes und verallgemeinerbares Wissen ĂŒber Sackgassen zu erlernen. Unsere Arbeit umfasst folgende BeitrĂ€ge: Wenn der Effekt des Handelns mit Unsicherheiten behaftet ist, dann kann die Existenz von Sackgassen dazu fĂŒhren, dass die Zielbedingung nicht unter allen UmstĂ€nden erfĂŒllt werden kann. Die naheliegendste Planungsbedingung in diesem Fall ist MaxProb, das Maximieren der Wahrscheinlichkeit, dass die Zielbedingung erreicht wird. Planungsalgorithmen fĂŒr MaxProb sind jedoch wenig erforscht. Um diese LĂŒcke zu schließen, erstellen wir einen umfangreichen Bausatz fĂŒr Suchmethoden in probabilistischen ZustandsrĂ€umen, und entwickeln dabei neue Suchalgorithmen, Zustandsraumreduktionsmethoden, und AbschĂ€tzungen der Zielerreichbarkeitswahrscheinlichkeit, wie sie fĂŒr heuristische Suchalgorithmen gebraucht werden. Wir explorieren den resultierenden Gestaltungsraum systematisch in einer breit angelegten empirischen Studie. Die Grundlage unserer Adaption des konfliktgesteuerten Lernens bilden Unerreichbarkeitsdetektoren. Wir konzipieren drei Familien solcher Detektoren basierend auf bereits bekannten Techniken: Kritische-Pfad Heuristiken, Heuristiken basierend auf linearer Optimierung, und Sackgassen-Fallen. Wir entwickeln Suchmethoden, um Konflikte in deterministischen und probabilistischen ZustandsrĂ€umen zu erkennen, sowie Methoden, um die verschiedenen Unerreichbarkeitsdetektoren basierend auf den erkannten Konflikten zu verfeinern. Instanziiert als Tiefensuche weisen unsere Techniken Ă€hnliche Eigenschaften auf wie das konfliktgesteuerte Lernen fĂŒr Constraint-Satisfaction-Problemen. Wir evaluieren die entwickelten Methoden empirisch, und zeigen dabei, dass das konfliktgesteuerte Lernen unter gewissen Voraussetzungen zu signifikanten Suchreduktionen beim Finden von PlĂ€nen in lösbaren klassischen Planungsproblemen, Beweisen der Unlösbarkeit von klassischen Planungsproblemen, und Lösen von MaxProb im probabilistischen Planen, fĂŒhren kann

    ICAPS 2012. Proceedings of the third Workshop on the International Planning Competition

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    22nd International Conference on Automated Planning and Scheduling. June 25-29, 2012, Atibaia, Sao Paulo (Brazil). Proceedings of the 3rd the International Planning CompetitionThe Academic Advising Planning Domain / Joshua T. Guerin, Josiah P. Hanna, Libby Ferland, Nicholas Mattei, and Judy Goldsmith. -- Leveraging Classical Planners through Translations / Ronen I. Brafman, Guy Shani, and Ran Taig. -- Advances in BDD Search: Filtering, Partitioning, and Bidirectionally Blind / Stefan Edelkamp, Peter Kissmann, and Álvaro Torralba. -- A Multi-Agent Extension of PDDL3.1 / Daniel L. Kovacs. -- Mining IPC-2011 Results / Isabel Cenamor, TomĂĄs de la Rosa, and Fernando FernĂĄndez. -- How Good is the Performance of the Best Portfolio in IPC-2011? / Sergio Nuñez, Daniel Borrajo, and Carlos Linares LĂłpez. -- “Type Problem in Domain Description!” or, Outsiders’ Suggestions for PDDL Improvement / Robert P. Goldman and Peter KellerEn prens
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