196 research outputs found
Structure and Problem Hardness: Goal Asymmetry and DPLL Proofs in<br> SAT-Based Planning
In Verification and in (optimal) AI Planning, a successful method is to
formulate the application as boolean satisfiability (SAT), and solve it with
state-of-the-art DPLL-based procedures. There is a lack of understanding of why
this works so well. Focussing on the Planning context, we identify a form of
problem structure concerned with the symmetrical or asymmetrical nature of the
cost of achieving the individual planning goals. We quantify this sort of
structure with a simple numeric parameter called AsymRatio, ranging between 0
and 1. We run experiments in 10 benchmark domains from the International
Planning Competitions since 2000; we show that AsymRatio is a good indicator of
SAT solver performance in 8 of these domains. We then examine carefully crafted
synthetic planning domains that allow control of the amount of structure, and
that are clean enough for a rigorous analysis of the combinatorial search
space. The domains are parameterized by size, and by the amount of structure.
The CNFs we examine are unsatisfiable, encoding one planning step less than the
length of the optimal plan. We prove upper and lower bounds on the size of the
best possible DPLL refutations, under different settings of the amount of
structure, as a function of size. We also identify the best possible sets of
branching variables (backdoors). With minimum AsymRatio, we prove exponential
lower bounds, and identify minimal backdoors of size linear in the number of
variables. With maximum AsymRatio, we identify logarithmic DPLL refutations
(and backdoors), showing a doubly exponential gap between the two structural
extreme cases. The reasons for this behavior -- the proof arguments --
illuminate the prototypical patterns of structure causing the empirical
behavior observed in the competition benchmarks
XOR-Sampling for Network Design with Correlated Stochastic Events
Many network optimization problems can be formulated as stochastic network
design problems in which edges are present or absent stochastically.
Furthermore, protective actions can guarantee that edges will remain present.
We consider the problem of finding the optimal protection strategy under a
budget limit in order to maximize some connectivity measurements of the
network. Previous approaches rely on the assumption that edges are independent.
In this paper, we consider a more realistic setting where multiple edges are
not independent due to natural disasters or regional events that make the
states of multiple edges stochastically correlated. We use Markov Random Fields
to model the correlation and define a new stochastic network design framework.
We provide a novel algorithm based on Sample Average Approximation (SAA)
coupled with a Gibbs or XOR sampler. The experimental results on real road
network data show that the policies produced by SAA with the XOR sampler have
higher quality and lower variance compared to SAA with Gibbs sampler.Comment: In Proceedings of the Twenty-sixth International Joint Conference on
Artificial Intelligence (IJCAI-17). The first two authors contribute equall
Synthesizing Manipulation Sequences for Under-Specified Tasks using Unrolled Markov Random Fields
Abstract — Many tasks in human environments require performing a sequence of navigation and manipulation steps involving objects. In unstructured human environments, the location and configuration of the objects involved often change in unpredictable ways. This requires a high-level planning strategy that is robust and flexible in an uncertain environment. We propose a novel dynamic planning strategy, which can be trained from a set of example sequences. High level tasks are expressed as a sequence of primitive actions or controllers (with appropriate parameters). Our score function, based on Markov Random Field (MRF), captures the relations between environment, controllers, and their arguments. By expressing the environment using sets of attributes, the approach generalizes well to unseen scenarios. We train the parameters of our MRF using a maximum margin learning method. We provide a detailed empirical validation of our overall framework demonstrating successful plan strategies for a variety of tasks. 1 I
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