5,636 research outputs found
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
On the determination of cusp points of 3-R\underline{P}R parallel manipulators
This paper investigates the cuspidal configurations of 3-RPR parallel
manipulators that may appear on their singular surfaces in the joint space.
Cusp points play an important role in the kinematic behavior of parallel
manipulators since they make possible a non-singular change of assembly mode.
In previous works, the cusp points were calculated in sections of the joint
space by solving a 24th-degree polynomial without any proof that this
polynomial was the only one that gives all solutions. The purpose of this study
is to propose a rigorous methodology to determine the cusp points of
3-R\underline{P}R manipulators and to certify that all cusp points are found.
This methodology uses the notion of discriminant varieties and resorts to
Gr\"obner bases for the solutions of systems of equations
Robust Computer Algebra, Theorem Proving, and Oracle AI
In the context of superintelligent AI systems, the term "oracle" has two
meanings. One refers to modular systems queried for domain-specific tasks.
Another usage, referring to a class of systems which may be useful for
addressing the value alignment and AI control problems, is a superintelligent
AI system that only answers questions. The aim of this manuscript is to survey
contemporary research problems related to oracles which align with long-term
research goals of AI safety. We examine existing question answering systems and
argue that their high degree of architectural heterogeneity makes them poor
candidates for rigorous analysis as oracles. On the other hand, we identify
computer algebra systems (CASs) as being primitive examples of domain-specific
oracles for mathematics and argue that efforts to integrate computer algebra
systems with theorem provers, systems which have largely been developed
independent of one another, provide a concrete set of problems related to the
notion of provable safety that has emerged in the AI safety community. We
review approaches to interfacing CASs with theorem provers, describe
well-defined architectural deficiencies that have been identified with CASs,
and suggest possible lines of research and practical software projects for
scientists interested in AI safety.Comment: 15 pages, 3 figure
- …