Analyzing, Learning, and Shaping Planning Search Spaces
نویسنده
چکیده
Introduction The complexity of a task faced by a planner depends strongly on the search space. The importance of the planner’s search space is reflected in the two main classes of classical AI planners: state-space planners, which explore the search space by considering totally ordered sequences of directly neighboring states of the world, and plan-space planners, which explore the search space by considering incomplete plans consisting of partially ordered actions. The search space also depends on the structure of subgoals (their interactions) and on the representation of knowledge used by the planner (e.g., the level of abstraction at which the planning is done or the expressiveness of the description language). Taking these factors into account can lead to finer-grained classification of planning domains and search spaces. Knowing the properties of a search space is useful when a human designer creates a new planner or decides which of the existing planners to use. However, knowledge of the properties of a search space may also be useful to the planner itself. In my research, I plan to explore which features of the search spaces can be automatically determined or learned by planners (during repeated executions), and how such information may be used by a planner to improve the search process (e.g., by choosing an appropriate planning technique, abstraction level, or representation). This research is still in the idea stage: I am in the process of developing my dissertation proposal, and plan to take the preliminary exam (proposal defense) in July, after the conference. Attending the doctoral consortium will give me the ideal opportunity to receive early feedback that can help guide my dissertation research. I also look forward to the opportunity to attend the conference in order to get a better sense of the current state of the field, and to meet other graduate students and senior researchers.
منابع مشابه
پاسخگویی به مراتب نیازهای روانشناختی انسان در فضاهای آموزشی با بهرهگیری از آموزههای مدارس سنتی
Despite rapid quantitative growth in recent years, little attention has been paid to the quality of learning environments in contemporary universities. With the rapid increase in the capacity of universities and establishing new academic units and courses, growth in physical spaces in universities and higher educational institutions has accelerated considerably in recent years. Quantitatively o...
متن کاملLearning Linear Ranking Functions for Beam Search with Application to Planning
Beam search is commonly used to help maintain tractability in large search spaces at the expense of completeness and optimality. Here we study supervised learning of linear ranking functions for controlling beam search. The goal is to learn ranking functions that allow for beam search to perform nearly as well as unconstrained search, and hence gain computational efficiency without seriously sa...
متن کاملFast and Robust Motion Planning with Noisy Data using Machine Learning
We give an overview of a new set of learningbased algorithms for fast and robust motion planning with noisy sensor data. These include improved search in configuration spaces using instance-based learning, and robust proximity queries in configuration spaces with noisy data. We demonstrate the performance of these new proximity and planning algorithms on the PR2 robot with noisy point-cloud data.
متن کاملPlan-based reward shaping for multi-agent reinforcement learning
Recent theoretical results have justified the use of potential-based reward shaping as a way to improve the performance of multi-agent reinforcement learning (MARL). However, the question remains of how to generate a useful potential function. Previous research demonstrated the use of STRIPS operator knowledge to automatically generate a potential function for single-agent reinforcement learnin...
متن کاملThirteen Most Common Trends Shaping Automobile Dependence Worldwide and the Global Implications of these Trends Kenya
Walking being the oldest form of urban transport, and until the advent of major transformationsin transport technology in the nineteenth century, most cities were structured in ways that supported walkability.Today, there is a change in transportation which emphasizes, the traditional pedestrian paths which are increasinglybecoming non-regulated spaces when compared to the urban spaces for auto...
متن کامل