8,640 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
Abstraction in directed model checking
Abstraction is one of the most important issues to cope with large and infinite state spaces in model checking and to reduce the verification efforts. The abstract system is smaller than the original one and if the abstract system satisfies a correctness specification, so does the concrete one. However, abstractions may introduce a behavior violating the specification that is not present in the original system.
This paper bypasses this problem by proposing the combination of abstraction with heuristic search to improve error detection. The abstract system is explored in order to create a database that stores the exact distances from abstract states to the set of abstract error states. To check, whether or not the abstract behavior is present in the original system, effcient exploration algorithms exploit the database as a guidance
mGPT: A Probabilistic Planner Based on Heuristic Search
We describe the version of the GPT planner used in the probabilistic track of
the 4th International Planning Competition (IPC-4). This version, called mGPT,
solves Markov Decision Processes specified in the PPDDL language by extracting
and using different classes of lower bounds along with various heuristic-search
algorithms. The lower bounds are extracted from deterministic relaxations where
the alternative probabilistic effects of an action are mapped into different,
independent, deterministic actions. The heuristic-search algorithms use these
lower bounds for focusing the updates and delivering a consistent value
function over all states reachable from the initial state and the greedy
policy
Adaptive Information Gathering via Imitation Learning
In the adaptive information gathering problem, a policy is required to select
an informative sensing location using the history of measurements acquired thus
far. While there is an extensive amount of prior work investigating effective
practical approximations using variants of Shannon's entropy, the efficacy of
such policies heavily depends on the geometric distribution of objects in the
world. On the other hand, the principled approach of employing online POMDP
solvers is rendered impractical by the need to explicitly sample online from a
posterior distribution of world maps.
We present a novel data-driven imitation learning framework to efficiently
train information gathering policies. The policy imitates a clairvoyant oracle
- an oracle that at train time has full knowledge about the world map and can
compute maximally informative sensing locations. We analyze the learnt policy
by showing that offline imitation of a clairvoyant oracle is implicitly
equivalent to online oracle execution in conjunction with posterior sampling.
This observation allows us to obtain powerful near-optimality guarantees for
information gathering problems possessing an adaptive sub-modularity property.
As demonstrated on a spectrum of 2D and 3D exploration problems, the trained
policies enjoy the best of both worlds - they adapt to different world map
distributions while being computationally inexpensive to evaluate.Comment: Robotics Science and Systems, 201
A Survey of Monte Carlo Tree Search Methods
Monte Carlo tree search (MCTS) is a recently proposed search method that combines the precision of tree search with the generality of random sampling. It has received considerable interest due to its spectacular success in the difficult problem of computer Go, but has also proved beneficial in a range of other domains. This paper is a survey of the literature to date, intended to provide a snapshot of the state of the art after the first five years of MCTS research. We outline the core algorithm's derivation, impart some structure on the many variations and enhancements that have been proposed, and summarize the results from the key game and nongame domains to which MCTS methods have been applied. A number of open research questions indicate that the field is ripe for future work
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