141,919 research outputs found
PushPush is NP-hard in 2D
We prove that a particular pushing-blocks puzzle is intractable in 2D,
improving an earlier result that established intractability in 3D [OS99]. The
puzzle, inspired by the game *PushPush*, consists of unit square blocks on an
integer lattice. An agent may push blocks (but never pull them) in attempting
to move between given start and goal positions. In the PushPush version, the
agent can only push one block at a time, and moreover, each block, when pushed,
slides the maximal extent of its free range. We prove this version is NP-hard
in 2D by reduction from SAT.Comment: 18 pages, 13 figures, 1 table. Improves cs.CG/991101
PushPush is NP-Hard in 3D
We prove that a particular pushing-blocks puzzle is intractable in 3D. The puzzle, inspired by the game PushPush, consists of unit square blocks on an integer lattice. An agent may push blocks (but never pull them) in attempting to move between given start and goal positions. In the PushPush version, the agent can only push one block at a time, and moreover, each block, when pushed, slides the maximal extent of its free range. We prove this version is NP-hard in 3D by reduction from SAT. The corresponding problem in 2D remains open
Push-Pull Block Puzzles are Hard
This paper proves that push-pull block puzzles in 3D are PSPACE-complete to
solve, and push-pull block puzzles in 2D with thin walls are NP-hard to solve,
settling an open question by Zubaran and Ritt. Push-pull block puzzles are a
type of recreational motion planning problem, similar to Sokoban, that involve
moving a `robot' on a square grid with obstacles. The obstacles
cannot be traversed by the robot, but some can be pushed and pulled by the
robot into adjacent squares. Thin walls prevent movement between two adjacent
squares. This work follows in a long line of algorithms and complexity work on
similar problems. The 2D push-pull block puzzle shows up in the video games
Pukoban as well as The Legend of Zelda: A Link to the Past, giving another
proof of hardness for the latter. This variant of block-pushing puzzles is of
particular interest because of its connections to reversibility, since any
action (e.g., push or pull) can be inverted by another valid action (e.g., pull
or push).Comment: Full version of CIAC 2017 paper. 17 page
PushPush and Push-1 are NP-hard in 2D
We prove that two pushing-blocks puzzles are intractable in 2D. One of our
constructions improves an earlier result that established intractability in 3D
[OS99] for a puzzle inspired by the game PushPush. The second construction
answers a question we raised in [DDO00] for a variant we call Push-1. Both
puzzles consist of unit square blocks on an integer lattice; all blocks are
movable. An agent may push blocks (but never pull them) in attempting to move
between given start and goal positions. In the PushPush version, the agent can
only push one block at a time, and moreover when a block is pushed it slides
the maximal extent of its free range. In the Push-1 version, the agent can only
push one block one square at a time, the minimal extent---one square. Both
NP-hardness proofs are by reduction from SAT, and rely on a common
construction.Comment: 10 pages, 11 figures. Corrects an error in the conference version:
Proc. of the 12th Canadian Conference on Computational Geometry, August 2000,
pp. 211-21
Propagation Networks for Model-Based Control Under Partial Observation
There has been an increasing interest in learning dynamics simulators for
model-based control. Compared with off-the-shelf physics engines, a learnable
simulator can quickly adapt to unseen objects, scenes, and tasks. However,
existing models like interaction networks only work for fully observable
systems; they also only consider pairwise interactions within a single time
step, both restricting their use in practical systems. We introduce Propagation
Networks (PropNet), a differentiable, learnable dynamics model that handles
partially observable scenarios and enables instantaneous propagation of signals
beyond pairwise interactions. Experiments show that our propagation networks
not only outperform current learnable physics engines in forward simulation,
but also achieve superior performance on various control tasks. Compared with
existing model-free deep reinforcement learning algorithms, model-based control
with propagation networks is more accurate, efficient, and generalizable to
new, partially observable scenes and tasks.Comment: Accepted to ICRA 2019. Project Page: http://propnet.csail.mit.edu
Video: https://youtu.be/ZAxHXegkz4
Composable Deep Reinforcement Learning for Robotic Manipulation
Model-free deep reinforcement learning has been shown to exhibit good
performance in domains ranging from video games to simulated robotic
manipulation and locomotion. However, model-free methods are known to perform
poorly when the interaction time with the environment is limited, as is the
case for most real-world robotic tasks. In this paper, we study how maximum
entropy policies trained using soft Q-learning can be applied to real-world
robotic manipulation. The application of this method to real-world manipulation
is facilitated by two important features of soft Q-learning. First, soft
Q-learning can learn multimodal exploration strategies by learning policies
represented by expressive energy-based models. Second, we show that policies
learned with soft Q-learning can be composed to create new policies, and that
the optimality of the resulting policy can be bounded in terms of the
divergence between the composed policies. This compositionality provides an
especially valuable tool for real-world manipulation, where constructing new
policies by composing existing skills can provide a large gain in efficiency
over training from scratch. Our experimental evaluation demonstrates that soft
Q-learning is substantially more sample efficient than prior model-free deep
reinforcement learning methods, and that compositionality can be performed for
both simulated and real-world tasks.Comment: Videos: https://sites.google.com/view/composing-real-world-policies
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