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We investigate learning heuristics for domain-specific planning. Prior work framed learning a heuristic as an ordinary regression problem. However, in a greedy best-first search, the ordering of states induced by a heuristic is more…
Despite their near dominance, heuristic state search planners still lag behind disjunctive planners in the generation of parallel plans in classical planning. The reason is that directly searching for parallel solutions in state space…
PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has shown how PDDLStream problems can be reduced to a sequence…
Planning as heuristic search is one of the most successful approaches to classical planning but unfortunately, it does not extend trivially to Generalized Planning (GP). GP aims to compute algorithmic solutions that are valid for a set of…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
Planning and Learning are complementary approaches. Planning relies on deliberative reasoning about the current state and sequence of future reachable states to solve the problem. Learning, on the other hand, is focused on improving system…
Search and planning algorithms have been a cornerstone of artificial intelligence since the field's inception. Giving reinforcement learning agents the ability to plan during execution time has resulted in significant performance…
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…
In unstructured environments like parking lots or construction sites, due to the large search-space and kinodynamic constraints of the vehicle, it is challenging to achieve real-time planning. Several state-of-the-art planners utilize…
Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…
Planning as theorem proving in situation calculus was abandoned 50 years ago as an impossible project. But we have developed a Theorem Proving Lifted Heuristic (TPLH) planner that searches for a plan in a tree of situations using the A*…
Planning has achieved significant progress in recent years. Among the various approaches to scale up plan synthesis, the use of macro-actions has been widely explored. As a first stage towards the development of a solution to learn on-line…
Heuristic search is the dominant paradigm in symbolic AI planning, and the strongest heuristics are the result of decades of work by planning researchers. Recent work has shown that large language models (LLMs) can design heuristics for…
Recent work on LatPlan has shown that it is possible to learn models for domain-independent classical planners from unlabeled image data. Although PDDL models acquired by LatPlan can be solved using standard PDDL planners, the resulting…
Fast Downward is a classical planning system based on heuristic search. It can deal with general deterministic planning problems encoded in the propositional fragment of PDDL2.2, including advanced features like ADL conditions and effects…
Classical planners can effectively solve very large deterministic MDPs represented in STRIPS or PDDL where states are sets of atoms over objects and relations, and lifted action schemas add or delete these atoms. This compact representation…
We consider enhancing large language models (LLMs) for complex planning tasks. While existing methods allow LLMs to explore intermediate steps to make plans, they either depend on unreliable self-verification or external verifiers to…
Lifted classical planners operate directly on first-order planning tasks to avoid the computationally demanding grounding step. However, lifted planning is typically slower, as planners must repeatedly instantiate ground structures during…
Recent works have introduced LEAPS and HPRL, systems that learn latent spaces of domain-specific languages, which are used to define programmatic policies for partially observable Markov decision processes (POMDPs). These systems induce a…
Sampling-based motion planners have experienced much success due to their ability to efficiently and evenly explore the state space. However, for many tasks, it may be more efficient to not uniformly explore the state space, especially when…