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

Distributed Nested Rollout Policy for Same Game

Nested Rollout Policy Adaptation (NRPA) is a Monte Carlo search heuristic for puzzles and other optimization problems. It achieves state-of-the-art performance on several games including SameGame. In this paper, we design several parallel and distributed NRPA-based search techniques, and we provide a number of experimental insights about their execution. Finally, we use our best implementation to discover 15 better scores for 20 standard SameGame boards

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Engineering Benchmarks for Planning: the Domains Used in the Deterministic Part of IPC-4

In a field of research about general reasoning mechanisms, it is essential to have appropriate benchmarks. Ideally, the benchmarks should reflect possible applications of the developed technology. In AI Planning, researchers more and more tend to draw their testing examples from the benchmark collections used in the International Planning Competition (IPC). In the organization of (the deterministic part of) the fourth IPC, IPC-4, the authors therefore invested significant effort to create a useful set of benchmarks. They come from five different (potential) real-world applications of planning: airport ground traffic control, oil derivative transportation in pipeline networks, model-checking safety properties, power supply restoration, and UMTS call setup. Adapting and preparing such an application for use as a benchmark in the IPC involves, at the time, inevitable (often drastic) simplifications, as well as careful choice between, and engineering of, domain encodings. For the first time in the IPC, we used compilations to formulate complex domain features in simple languages such as STRIPS, rather than just dropping the more interesting problem constraints in the simpler language subsets. The article explains and discusses the five application domains and their adaptation to form the PDDL test suites used in IPC-4. We summarize known theoretical results on structural properties of the domains, regarding their computational complexity and provable properties of their topology under the h+ function (an idealized version of the relaxed plan heuristic). We present new (empirical) results illuminating properties such as the quality of the most wide-spread heuristic functions (planning graph, serial planning graph, and relaxed plan), the growth of propositional representations over instance size, and the number of actions available to achieve each fact; we discuss these data in conjunction with the best results achieved by the different kinds of planners participating in IPC-4

DiVinE-CUDA - A Tool for GPU Accelerated LTL Model Checking

In this paper we present a tool that performs CUDA accelerated LTL Model Checking. The tool exploits parallel algorithm MAP adjusted to the NVIDIA CUDA architecture in order to efficiently detect the presence of accepting cycles in a directed graph. Accepting cycle detection is the core algorithmic procedure in automata-based LTL Model Checking. We demonstrate that the tool outperforms non-accelerated version of the algorithm and we discuss where the limits of the tool are and what we intend to do in the future to avoid them

GPU Accelerated counterexample generation in LTL model checking

Strongly Connected Component (SCC) based searching is one of the most popular LTL model checking algorithms. When the SCCs are huge, the counterexample generation process can be time-consuming, especially when dealing with fairness assumptions. In this work, we propose a GPU accelerated counterexample generation algorithm, which improves the performance by parallelizing the Breadth First Search (BFS) used in the counterexample generation. BFS work is irregular, which means it is hard to allocate resources and may suffer from imbalanced load. We make use of the features of latest CUDA Compute Architecture-NVIDIA Kepler GK110 to achieve the dynamic parallelism and memory hierarchy so as to handle the irregular searching pattern in BFS.We build dynamic queue management, task scheduler and path recording such that the counterexample generation process can be completely finished by GPU without involving CPU. We have implemented the proposed approach in PAT model checker. Our experiments show that our approach is effective and scalable. ?Springer International Publishing Switzerland 2014.EI0413-429882

QuickXsort: Efficient Sorting with n log n - 1.399n +o(n) Comparisons on Average

In this paper we generalize the idea of QuickHeapsort leading to the notion of QuickXsort. Given some external sorting algorithm X, QuickXsort yields an internal sorting algorithm if X satisfies certain natural conditions. With QuickWeakHeapsort and QuickMergesort we present two examples for the QuickXsort-construction. Both are efficient algorithms that incur approximately n log n - 1.26n +o(n) comparisons on the average. A worst case of n log n + O(n) comparisons can be achieved without significantly affecting the average case. Furthermore, we describe an implementation of MergeInsertion for small n. Taking MergeInsertion as a base case for QuickMergesort, we establish a worst-case efficient sorting algorithm calling for n log n - 1.3999n + o(n) comparisons on average. QuickMergesort with constant size base cases shows the best performance on practical inputs: when sorting integers it is slower by only 15% to STL-Introsort

Subsumer-First: Steering Symbolic Reachability Analysis

Abstract. Symbolic reachability analysis provides a basis for the veri-fication of software systems by offering algorithmic support for the ex-ploration of the program state space when searching for proofs or coun-terexamples. The choice of exploration strategy employed by the anal-ysis has direct impact on its success, whereas the ability to find short counterexamples quickly and—as a complementary task—to efficiently perform the exhaustive state space traversal are of utmost importance for the majority of verification efforts. Existing exploration strategies can optimize only one of these objectives which leads to a sub-optimal reach-ability analysis, e.g., breadth-first search may sacrifice the exploration ef-ficiency and chaotic iteration can miss minimal counterexamples. In this paper we present subsumer-first, a new approach for steering symbolic reachability analysis that targets both minimal counterexample discovery and efficiency of exhaustive exploration. Our approach leverages the re-sult of fixpoint checks performed during symbolic reachability analysis to bias the exploration strategy towards its objectives, and does not require any additional computation. We demonstrate how the subsumer-first ap-proach can be applied to improve efficiency of software verification tools based on predicate abstraction. Our experimental evaluation indicates the practical usefulness of the approach: we observe significant efficiency improvements (median value 40%) on difficult verification benchmarks from the transportation domain.