TY - GEN
T1 - Tractability of planning with loops
AU - Srivastava, Siddharth
AU - Zilberstein, Shlomo
AU - Gupta, Abhishek
AU - Abbeel, Pieter
AU - Russell, Stuart
N1 - Publisher Copyright:
© Copyright 2015, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2015/6/1
Y1 - 2015/6/1
N2 - We create a unified framework for analyzing and synthesizing plans with loops for solving problems with nondeterministic numeric effects and a limited form of partial observability. Three different action models-with deterministic, qualitative non-deterministic and Boolean nondeterministic semantics-are handled using a single abstract representation. We establish the conditions under which the correctness and termination of solutions, represented as abstract policies, can be veri tied. We also examine the feasibility of learning abstract policies from examples. We demonstrate our techniques on several planning problems and show that they apply to challenging real-world tasks such as doing the laundry with a PR2 robot. These results resolve a number of open questions about planning with loops and facilitate the development of new algorithms and applications.
AB - We create a unified framework for analyzing and synthesizing plans with loops for solving problems with nondeterministic numeric effects and a limited form of partial observability. Three different action models-with deterministic, qualitative non-deterministic and Boolean nondeterministic semantics-are handled using a single abstract representation. We establish the conditions under which the correctness and termination of solutions, represented as abstract policies, can be veri tied. We also examine the feasibility of learning abstract policies from examples. We demonstrate our techniques on several planning problems and show that they apply to challenging real-world tasks such as doing the laundry with a PR2 robot. These results resolve a number of open questions about planning with loops and facilitate the development of new algorithms and applications.
UR - http://www.scopus.com/inward/record.url?scp=84961211304&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84961211304&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84961211304
T3 - Proceedings of the National Conference on Artificial Intelligence
SP - 3393
EP - 3401
BT - Proceedings of the 29th AAAI Conference on Artificial Intelligence, AAAI 2015 and the 27th Innovative Applications of Artificial Intelligence Conference, IAAI 2015
PB - AI Access Foundation
T2 - 29th AAAI Conference on Artificial Intelligence, AAAI 2015 and the 27th Innovative Applications of Artificial Intelligence Conference, IAAI 2015
Y2 - 25 January 2015 through 30 January 2015
ER -