相关论文: Cost-Optimal Algorithms for Planning with Procedur…
HTN planning is a variation of classical planning where, instead of searching for a linear sequence of actions, an algorithm decomposes higher-level tasks using a method library until only executable actions remain. On one hand, this allows…
Goal recognition aims to infer an agent's goal from observations of its behaviour. In realistic settings, recognition can benefit from exploiting hierarchical task structure and reasoning under uncertainty. Planning-based goal recognition…
Although heuristic search is one of the most successful approaches to classical planning, this planning paradigm does not apply straightforwardly to Generalized Planning (GP). Planning as heuristic search traditionally addresses the…
Although heuristic search is one of the most successful approaches to classical planning, this planning paradigm does not apply straightforwardly to Generalized Planning (GP). This paper adapts the planning as heuristic search paradigm to…
Deterministic planning assumes that the planning evolves along a fully predictable path, and therefore it loses the practical value in most real projections. A more realistic view is that planning ought to take into consideration partial…
Hierarchical Task Network (HTN) planning is a popular approach that cuts down on the classical planning search space by relying on a given hierarchical library of domain control knowledge. This provides an intuitive methodology for…
Landmarks are one of the most effective search heuristics for classical planning, but largely ignored in generalized planning. Generalized planning (GP) is usually addressed as a combinatorial search in a given space of algorithmic…
When vehicle routing decisions are intertwined with higher-level decisions, the resulting optimization problems pose significant challenges for computation. Examples are the multi-depot vehicle routing problem (MDVRP), where customers are…
Recent advancements have significantly enhanced the performance of large language models (LLMs) in tackling complex reasoning tasks, achieving notable success in domains like mathematical and logical reasoning. However, these methods…
We present the first approach capable of learning domain-independent planning heuristics entirely from scratch. The heuristics we learn map the hypergraph representation of the delete-relaxation of the planning problem at hand, to a cost…
Goal Recognition is the task by which an observer aims to discern the goals that correspond to plans that comply with the perceived behavior of subject agents given as a sequence of observations. Research on Goal Recognition as Planning…
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…
In imitation learning for planning, parameters of heuristic functions are optimized against a set of solved problem instances. This work revisits the necessary and sufficient conditions of strictly optimally efficient heuristics for forward…
Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…
Humanoid robots must master numerous tasks with sparse rewards, posing a challenge for reinforcement learning (RL). We propose a method combining RL and automated planning to address this. Our approach uses short goal-conditioned policies…
We describe and evaluate the algorithmic techniques that are used in the FF planning system. Like the HSP system, FF relies on forward state space search, using a heuristic that estimates goal distances by ignoring delete lists. Unlike…
Current evaluation functions for heuristic planning are expensive to compute. In numerous planning problems these functions provide good guidance to the solution, so they are worth the expense. However, when evaluation functions are…
Between 1998 and 2004, the planning community has seen vast progress in terms of the sizes of benchmark examples that domain-independent planners can tackle successfully. The key technique behind this progress is the use of heuristic…
Generalised planning (GP) refers to the task of synthesising programs that solve families of related planning problems. We introduce a novel, yet simple method for GP: given a set of training problems, for each problem, compute an optimal…
In this paper, we consider a planning problem for a large-scale system modelled as a hierarchical finite state machine (HFSM) and develop a control algorithm for computing optimal plans between any two states. The control algorithm consists…