3,458 research outputs found

    ASAP: An Automatic Algorithm Selection Approach for Planning

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    Despite the advances made in the last decade in automated planning, no planner out- performs all the others in every known benchmark domain. This observation motivates the idea of selecting different planning algorithms for different domains. Moreover, the planners’ performances are affected by the structure of the search space, which depends on the encoding of the considered domain. In many domains, the performance of a plan- ner can be improved by exploiting additional knowledge, for instance, in the form of macro-operators or entanglements. In this paper we propose ASAP, an automatic Algorithm Selection Approach for Planning that: (i) for a given domain initially learns additional knowledge, in the form of macro-operators and entanglements, which is used for creating different encodings of the given planning domain and problems, and (ii) explores the 2 dimensional space of available algorithms, defined as encodings–planners couples, and then (iii) selects the most promising algorithm for optimising either the runtimes or the quality of the solution plans

    Portfolio-based Planning: State of the Art, Common Practice and Open Challenges

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    In recent years the field of automated planning has significantly advanced and several powerful domain-independent planners have been developed. However, none of these systems clearly outperforms all the others in every known benchmark domain. This observation motivated the idea of configuring and exploiting a portfolio of planners to perform better than any individual planner: some recent planning systems based on this idea achieved significantly good results in experimental analysis and International Planning Competitions. Such results let us suppose that future challenges of the Automated Planning community will converge on designing different approaches for combining existing planning algorithms. This paper reviews existing techniques and provides an exhaustive guide to portfolio-based planning. In addition, the paper outlines open issues of existing approaches and highlights possible future evolution of these techniques

    On potential cognitive abilities in the machine kingdom

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    The final publication is available at Springer via http://dx.doi.org/10.1007/s11023-012-9299-6Animals, including humans, are usually judged on what they could become, rather than what they are. Many physical and cognitive abilities in the ‘animal kingdom’ are only acquired (to a given degree) when the subject reaches a certain stage of development, which can be accelerated or spoilt depending on how the environment, training or education is. The term ‘potential ability’ usually refers to how quick and likely the process of attaining the ability is. In principle, things should not be different for the ‘machine kingdom’. While machines can be characterised by a set of cognitive abilities, and measuring them is already a big challenge, known as ‘universal psychometrics’, a more informative, and yet more challenging, goal would be to also determine the potential cognitive abilities of a machine. In this paper we investigate the notion of potential cognitive ability for machines, focussing especially on universality and intelligence. We consider several machine characterisations (non-interactive and interactive) and give definitions for each case, considering permanent and temporal potentials. From these definitions, we analyse the relation between some potential abilities, we bring out the dependency on the environment distribution and we suggest some ideas about how potential abilities can be measured. Finally, we also analyse the potential of environments at different levels and briefly discuss whether machines should be designed to be intelligent or potentially intelligent.We thank the anonymous reviewers for their comments, which have helped to significantly improve this paper. This work was supported by the MEC-MINECO projects CONSOLIDER-INGENIO CSD2007-00022 and TIN 2010-21062-C02-02, GVA project PROMETEO/2008/051, the COST - European Cooperation in the field of Scientific and Technical Research IC0801 AT. Finally, we thank three pioneers ahead of their time(s). We thank Ray Solomonoff (1926-2009) and Chris Wallace (1933-2004) for all that they taught us, directly and indirectly. And, in his centenary year, we thank Alan Turing (1912-1954), with whom it perhaps all began.Hernández-Orallo, J.; Dowe, DL. (2013). On potential cognitive abilities in the machine kingdom. Minds and Machines. 23(2):179-210. https://doi.org/10.1007/s11023-012-9299-6S179210232Amari, S., Fujita, N., Shinomoto, S. (1992). Four types of learning curves. Neural Computation 4(4), 605–618.Aristotle (Translation, Introduction, and Commentary by Ross, W.D.) (1924). Aristotle’s Metaphysics. Oxford: Clarendon Press.Barmpalias, G. & Dowe, D. L. (2012). 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    Exploring the Synergy between two Modular Learning Techniques for Automated Planning

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    In the last decade the emphasis on improving the operational performance of domain independent automated planners has been in developing complex techniques which merge a range of different strategies. This quest for operational advantage, driven by the regular international planning competitions, has not made it easy to study, understand and predict what combinations of techniques will have what effect on a planner’s behaviour in a particular application domain. In this paper, we consider two machine learning techniques for planner performance improvement, and exploit a modular approach to their combination in order to facilitate the analysis of the impact of each individual component. We believe this can contribute to the development of more transparent planning engines, which are designed using modular, interchangeable, and well-founded components. Specifically, we combined two previously unrelated learning techniques, entanglements and relational decision trees, to guide a “vanilla” search algorithm. We report on a large experimental analysis which demonstrates the effectiveness of the approach in terms of performance improvements, resulting in a very competitive planning configuration despite the use of a more modular and transparent architecture. This gives insights on the strengths and weaknesses of the considered approaches, that will help their future exploitation

    Exploiting Block Deordering for Improving Planners Efficiency

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    Capturing and exploiting structural knowledge of planning problems has shown to be a successful strategy for making the planning process more ef- ficient. Plans can be decomposed into its constituent coherent subplans, called blocks, that encapsulate some effects and preconditions, reducing interference and thus allowing more deordering of plans. According to the nature of blocks, they can be straightforwardly transformed into useful macro-operators (shortly, “macros”). Macros are well known and widely studied kind of structural knowledge because they can be easily encoded in the domain model and thus exploited by standard planning engines. In this paper, we introduce a method, called BLOMA, that learns domain-specific macros from plans, decomposed into “macro-blocks” which are extensions of blocks, utilising structural knowledge they capture. In contrast to existing macro learning techniques, macro-blocks are often able to capture high-level activities that form a basis for useful longer macros (i.e. those consisting of more original operators). Our method is evaluated by using the IPC benchmarks with state-of-the-art planning engines, and shows considerable improvement in many cases

    Bayesian robot Programming

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    We propose a new method to program robots based on Bayesian inference and learning. The capacities of this programming method are demonstrated through a succession of increasingly complex experiments. Starting from the learning of simple reactive behaviors, we present instances of behavior combinations, sensor fusion, hierarchical behavior composition, situation recognition and temporal sequencing. This series of experiments comprises the steps in the incremental development of a complex robot program. The advantages and drawbacks of this approach are discussed along with these different experiments and summed up as a conclusion. These different robotics programs may be seen as an illustration of probabilistic programming applicable whenever one must deal with problems based on uncertain or incomplete knowledge. The scope of possible applications is obviously much broader than robotics

    Dynamic real-time hierarchical heuristic search for pathfinding.

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    Movement of Units in Real-Time Strategy (RTS) Games is a non-trivial and challenging task mainly due to three factors which are constraints on CPU and memory usage, dynamicity of the game world, and concurrency. In this paper, we are focusing on finding a novel solution for solving the pathfinding problem in RTS Games for the units which are controlled by the computer. The novel solution combines two AI Planning approaches: Hierarchical Task Network (HTN) and Real-Time Heuristic Search (RHS). In the proposed solution, HTNs are used as a dynamic abstraction of the game map while RHS works as planning engine with interleaving of plan making and action executions. The article provides algorithmic details of the model while the empirical details of the model are obtained by using a real-time strategy game engine called ORTS (Open Real-time Strategy). The implementation of the model and its evaluation methods are in progress however the results of the automatic HTN creation are obtained for a small scale game map

    A Planning-based Approach for Music Composition

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    . Automatic music composition is a fascinating field within computational creativity. While different Artificial Intelligence techniques have been used for tackling this task, Planning – an approach for solving complex combinatorial problems which can count on a large number of high-performance systems and an expressive language for describing problems – has never been exploited. In this paper, we propose two different techniques that rely on automated planning for generating musical structures. The structures are then filled from the bottom with “raw” musical materials, and turned into melodies. Music experts evaluated the creative output of the system, acknowledging an overall human-enjoyable trait of the melodies produced, which showed a solid hierarchical structure and a strong musical directionality. The techniques proposed not only have high relevance for the musical domain, but also suggest unexplored ways of using planning for dealing with non-deterministic creative domains
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