The 2014 International Planning Competition: Progress and Trends

We review the 2014 International Planning Competition (IPC-2014), the eighth in a series of competitions starting in 1998. IPC-2014 was held in three separate parts to assess state-of-the-art in three prominent areas of planning research: the deterministic (classical) part (IPCD), the learning part (IPCL), and the probabilistic part (IPPC). Each part evaluated planning systems in ways that pushed the edge of existing planner performance by introducing new challenges, novel tasks, or both. The competition surpassed again the number of competitors than its predecessor, highlighting the competition’s central role in shaping the landscape of ongoing developments in evaluating planning systems

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

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

The Configurable SAT Solver Challenge (CSSC)

It is well known that different solution strategies work well for different types of instances of hard combinatorial problems. As a consequence, most solvers for the propositional satisfiability problem (SAT) expose parameters that allow them to be customized to a particular family of instances. In the international SAT competition series, these parameters are ignored: solvers are run using a single default parameter setting (supplied by the authors) for all benchmark instances in a given track. While this competition format rewards solvers with robust default settings, it does not reflect the situation faced by a practitioner who only cares about performance on one particular application and can invest some time into tuning solver parameters for this application. The new Configurable SAT Solver Competition (CSSC) compares solvers in this latter setting, scoring each solver by the performance it achieved after a fully automated configuration step. This article describes the CSSC in more detail, and reports the results obtained in its two instantiations so far, CSSC 2013 and 2014

ViZDoom Competitions: Playing Doom from Pixels

This paper presents the first two editions of Visual Doom AI Competition, held in 2016 and 2017. The challenge was to create bots that compete in a multi-player deathmatch in a first-person shooter (FPS) game, Doom. The bots had to make their decisions based solely on visual information, i.e., a raw screen buffer. To play well, the bots needed to understand their surroundings, navigate, explore, and handle the opponents at the same time. These aspects, together with the competitive multi-agent aspect of the game, make the competition a unique platform for evaluating the state of the art reinforcement learning algorithms. The paper discusses the rules, solutions, results, and statistics that give insight into the agents' behaviors. Best-performing agents are described in more detail. The results of the competition lead to the conclusion that, although reinforcement learning can produce capable Doom bots, they still are not yet able to successfully compete against humans in this game. The paper also revisits the ViZDoom environment, which is a flexible, easy to use, and efficient 3D platform for research for vision-based reinforcement learning, based on a well-recognized first-person perspective game Doom

Planning through Automatic Portfolio Configuration: The PbP Approach

In the field of domain-independent planning, several powerful planners implementing different techniques have been developed. However, no one of these systems outperforms all others in every known benchmark domain. In this work, we propose a multi-planner approach that automatically configures a portfolio of planning techniques for each given domain. The configuration process for a given domain uses a set of training instances to: (i) compute and analyze some alternative sets of macro-actions for each planner in the portfolio identifying a (possibly empty) useful set, (ii) select a cluster of planners, each one with the identified useful set of macro-actions, that is expected to perform best, and (iii) derive some additional information for configuring the execution scheduling of the selected planners at planning time. The resulting planning system, called PbP (Portfolio- based Planner), has two variants focusing on speed and plan quality. Different versions of PbP entered and won the learning track of the sixth and seventh International Planning Competitions. In this paper, we experimentally analyze PbP considering planning speed and plan quality in depth. We provide a collection of results that help to understand PbP�s behavior, and demonstrate the effectiveness of our approach to configuring a portfolio of planners with macro-actions

A Multi-Engine Approach to Answer Set Programming

Answer Set Programming (ASP) is a truly-declarative programming paradigm proposed in the area of non-monotonic reasoning and logic programming, that has been recently employed in many applications. The development of efficient ASP systems is, thus, crucial. Having in mind the task of improving the solving methods for ASP, there are two usual ways to reach this goal: $(i)$ extending state-of-the-art techniques and ASP solvers, or $(ii)$ designing a new ASP solver from scratch. An alternative to these trends is to build on top of state-of-the-art solvers, and to apply machine learning techniques for choosing automatically the "best" available solver on a per-instance basis. In this paper we pursue this latter direction. We first define a set of cheap-to-compute syntactic features that characterize several aspects of ASP programs. Then, we apply classification methods that, given the features of the instances in a {\sl training} set and the solvers' performance on these instances, inductively learn algorithm selection strategies to be applied to a {\sl test} set. We report the results of a number of experiments considering solvers and different training and test sets of instances taken from the ones submitted to the "System Track" of the 3rd ASP Competition. Our analysis shows that, by applying machine learning techniques to ASP solving, it is possible to obtain very robust performance: our approach can solve more instances compared with any solver that entered the 3rd ASP Competition. (To appear in Theory and Practice of Logic Programming (TPLP).)Comment: 26 pages, 8 figure

On the Effective Configuration of Planning Domain Models

The development of domain-independent planners within the AI Planning community is leading to “off the shelf” technology that can be used in a wide range of applications. Moreover, it allows a modular approach – in which planners and domain knowledge are modules of larger software applications – that facilitates substitutions or improvements of individual modules without changing the rest of the system. This approach also supports the use of reformulation and configuration techniques, which transform how a model is represented in order to improve the efficiency of plan generation. In this paper, we investigate how the performance of planners is affected by domain model configuration. We introduce a fully automated method for this configuration task, and show in an extensive experimental analysis with six planners and seven domains that this process (which can, in principle, be combined with other forms of reformulation and configuration) can have a remarkable impact on performance across planners. Furthermore, studying the obtained domain model configurations can provide useful information to effectively engineer planning domain models

Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing

Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a previously unseen track after a handful of practice runs. In contrast, state-of-the-art autonomous navigation algorithms require either a precise metric map of the environment or a large amount of training data collected in the track of interest. To bridge this gap, we propose an approach that can fly a new track in a previously unseen environment without a precise map or expensive data collection. Our approach represents the global track layout with coarse gate locations, which can be easily estimated from a single demonstration flight. At test time, a convolutional network predicts the poses of the closest gates along with their uncertainty. These predictions are incorporated by an extended Kalman filter to maintain optimal maximum-a-posteriori estimates of gate locations. This allows the framework to cope with misleading high-variance estimates that could stem from poor observability or lack of visible gates. Given the estimated gate poses, we use model predictive control to quickly and accurately navigate through the track. We conduct extensive experiments in the physical world, demonstrating agile and robust flight through complex and diverse previously-unseen race tracks. The presented approach was used to win the IROS 2018 Autonomous Drone Race Competition, outracing the second-placing team by a factor of two.Comment: 6 pages (+1 references

Planning in probabilistic domains using a deterministic numeric planner

In the probabilistic track of the IPC5 - the last International planning competitions - a probabilistic planner based on combining deterministic planning with replanning - FF-REPLAN - out performed the other competitors. This probabilistic planning paradigm discarded the probabilistic information of the domain, just considering for each action its nominal effect as a deterministic effect