{"type":"ScholarlyArticle","title":"Numeric Planning via Abstraction and Policy Guided Search","authors":[{"name":"León Illanes","slug":"leon-illanes","given":"León","family":"Illanes","affiliation":"Department of Computer Science University of Toronto , Toronto , Canada"},{"name":"Sheila A. McIlraith","slug":"sheila-a-mcilraith","given":"Sheila A.","family":"McIlraith","affiliation":"Department of Computer Science University of Toronto , Toronto , Canada"}],"abstract":"The real-world application of planning techniques often requires models with numeric fluents. However, these fluents are not directly supported by most planners and heuristics. We describe a family of planning algorithms that takes a numeric planning problem and produces an abstracted representation that can be solved using any classical planner. The resulting abstract plan is generalized into a policy and then used to guide the search in the original numeric domain. We prove that our approach is sound, and we evaluate it on a set of standard benchmarks. We show that it can provide competitive performance when compared to other well-known algorithms for numeric planning, and a significant performance improvement in certain domains.","doi":"10.24963/ijcai.2017/606","url":"https://ijcai.org/proceedings/2017/606","pdf":"https://ijcai.org/proceedings/2017/0606.pdf","markdown":"https://ijcai.org/proceedings/2017/606.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/606","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Planning and Scheduling","track":"Main track","number":606,"pages":{"first":4338,"last":4345},"keywords":["Planning and Scheduling: Search in Planning and Scheduling","Planning and Scheduling: Planning Algorithms"],"videos":[],"references":[{"position":1,"raw":"[Bäckström and Nebel, 1995] Christer Bäckström and Bernhard Nebel. Complexity results for SAS+ planning. Computational Intelligence, 11:625-656, 1995.","title":"Complexity results for SAS+ planning","authors":"Nebel Bäckström, Christer Bäckström, Bernhard Nebel","year":"1995","venue":"Computational Intelligence","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Bonet and Geffner, 2001] Blai Bonet and Hector Geffner. Plan- ning as heuristic search. Artificial Intelligence, 129(1-2):5-33, 2001.","title":"Planning as heuristic search","authors":"Geffner Bonet, Blai Bonet, Hector Geffner","year":"2001","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Chrpa et al., 2015] Lukáš Chrpa, Enrico Scala, and Mauro Val- lati. Towards a reformulation based approach for efficient nu- meric planning: Numeric outer entanglements. In Proceedings of the 8th Symposium on Combinatorial Search (SoCS), pages 166-170, 2015.","title":"Towards a reformulation based approach for efficient nu-meric planning: Numeric outer entanglements","authors":"Chrpa","year":"2015","venue":"Proceedings of the 8th Symposium on Combinatorial Search (SoCS)","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Coles et al., 2008] Andrew Coles, Maria Fox, Derek Long, and Amanda Smith. A Hybrid Relaxed Planning Graph-LP Heuristic for Numeric Planning Domains. In Proceedings of the 18th In- ternational Conference on Automated Planning and Scheduling (ICAPS), pages 52-59, 2008.","title":"A Hybrid Relaxed Planning Graph-LP Heuristic for Numeric Planning Domains","authors":"Andrew Coles, Maria Fox, Derek Long, Amanda Smith","year":"2008","venue":"Proceedings of the 18th International Conference on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Cousot and Cousot, 1977] Patrick Cousot and Radhia Cousot. Ab- stract interpretation: a unified lattice model for static analysis of programs by construction or approximation of fixpoints. In Proceedings of the 4th ACM SIGACT-SIGPLAN Symposium on Principles of Programming Languages (POPL), pages 238-252, 1977.","title":"Abstract interpretation: a unified lattice model for static analysis of programs by construction or approximation of fixpoints","authors":"Cousot Cousot, Patrick Cousot, Radhia Cousot","year":"1977","venue":"Proceedings of the 4th ACM SIGACT-SIGPLAN Symposium on Principles of Programming Languages (POPL)","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[De Moura and Bjørner, 2008] Leonardo De Moura and Nikolaj Bjørner. Z3: An efficient SMT solver. In Proceedings of the 14th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), pages 337-340, 2008.","title":"Leonardo De Moura and Nikolaj Bjørner. Z3: An efficient SMT solver","authors":"De Moura, Bjørner","year":"2008","venue":"Proceedings of the 14th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS)","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Edelkamp, 2001] Stefan Edelkamp. Planning with pattern databases. In Sixth European Conference on Planning (ECP), pages 13-24, 2001.","title":"Planning with pattern databases","authors":"Stefan Edelkamp","year":"2001","venue":"Sixth European Conference on Planning (ECP)","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Fox and Long, 2003] Maria Fox and Derek Long. PDDL2.1: An extension to PDDL for expressing temporal planning domains. Journal of Artificial Intelligence Research, 20:61-124, 2003.","title":"PDDL2.1: An extension to PDDL for expressing temporal planning domains","authors":"Maria Fox, Derek Long","year":"2003","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Fritz and McIlraith, 2007] Christian Fritz and Sheila A. McIlraith. Monitoring plan optimality during execution. In Proceedings of the 17th International Conference on Automated Planning and Scheduling (ICAPS), pages 144-151, 2007.","title":"Monitoring plan optimality during execution","authors":"Mcilraith Fritz, Christian Fritz, Sheila A Mcilraith","year":"2007","venue":"Proceedings of the 17th International Conference on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Graf and Saïdi, 1997] Susanne Graf and Hassen Saïdi. Construc- tion of abstract state graphs with PVS. In Proceedings of the 9th International Conference on Computer Aided Verification (CAV), pages 72-83, 1997.","title":"Construction of abstract state graphs with PVS","authors":"Susanne Graf, Hassen Saïdi","year":"1997","venue":"Proceedings of the 9th International Conference on Computer Aided Verification (CAV)","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Haslum and Geffner, 2000] Patrik Haslum and Hector Geffner. Admissible heuristics for optimal planning. In Proceedings of the 5th International Conference on Artificial Intelligence Plan- ning Systems (AIPS), pages 140-149, 2000.","title":"Admissible heuristics for optimal planning","authors":"Geffner Haslum, Patrik Haslum, Hector Geffner","year":"2000","venue":"Proceedings of the 5th International Conference on Artificial Intelligence Planning Systems (AIPS)","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Helmert et al., 2014] Malte Helmert, Patrik Haslum, Jörg Hoff- mann, and Raz Nissim. Merge-and-shrink abstraction: A method for generating lower bounds in factored state spaces. Journal of the ACM, 61(3):16, 2014.","title":"Merge-and-shrink abstraction: A method for generating lower bounds in factored state spaces","authors":"Malte Helmert, Patrik Haslum, Jörg Hoffmann, Raz Nissim","year":"2014","venue":"Journal of the ACM","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Helmert, 2006] Malte Helmert. The Fast Downward planning sys- tem. Journal of Artificial Intelligence Research, 26:191-246, 2006.","title":"The Fast Downward planning system","authors":"Malte Helmert, Helmert","year":"2006","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Hoffmann and Nebel, 2001] Jörg Hoffmann and Bernhard Nebel. The FF planning system: Fast plan generation through heuristic search. Journal of Artificial Intelligence Research, 14:253-302, 2001.","title":"The FF planning system: Fast plan generation through heuristic search","authors":"Nebel Hoffmann, Jörg Hoffmann, Bernhard Nebel","year":"2001","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Hoffmann, 2003] Jörg Hoffmann. The Metric-FF planning sys- tem: Translating \"ignoring delete lists\" to numeric state vari- ables. Journal of Artificial Intelligence Research, 20:291-341, 2003.","title":"The Metric-FF planning system: Translating \"ignoring delete lists\" to numeric state variables","authors":"Jörg Hoffmann","year":"2003","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Hu and De Giacomo, 2011] Yuxiao Hu and Giuseppe De Gia- como. Generalized planning: Synthesizing plans that work for multiple environments. In Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI), pages 918- 923, 2011.","title":"Yuxiao Hu and Giuseppe De Giacomo. Generalized planning: Synthesizing plans that work for multiple environments","authors":"De Hu, Giacomo","year":"2011","venue":"Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI)","doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Illanes and McIlraith, 2016a] León Illanes and Sheila A. McIl- raith. Numeric planning via search space abstraction. In Pro- ceedings of the 9th Symposium on Combinatorial Search (SoCS), pages 133-134, 2016.","title":"McIlraith. Numeric planning via search space abstraction","authors":"Mcilraith Illanes, León Illanes, Sheila A","year":"2016","venue":"Proceedings of the 9th Symposium on Combinatorial Search (SoCS)","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Illanes and McIlraith, 2016b] León Illanes and Sheila A. McIl- raith. Numeric planning via search space abstraction. In Pro- ceedings of the Workshop on Knowledge-based Techniques for Problem Solving and Reasoning (KnowProS), 2016.","title":"Numeric planning via search space abstraction","authors":"Mcilraith Illanes, León Illanes, Sheila A","year":"2016","venue":"Proceedings of the Workshop on Knowledge-based Techniques for Problem Solving and Reasoning","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Knoblock, 1994] Craig A. Knoblock. Automatically generating abstractions for planning. Artificial intelligence, 68(2):243-302, 1994.","title":"Automatically generating abstractions for planning","authors":"Craig A Knoblock","year":"1994","venue":"Artificial intelligence","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Levesque, 2005] Hector J. Levesque. Planning with loops. In Pro- ceedings of the 19th International Joint Conference on Artificial Intelligence (IJCAI), pages 509-515, 2005.","title":"Planning with loops","authors":"Hector J Levesque","year":"2005","venue":"Proceedings of the 19th International Joint Conference on Artificial Intelligence (IJCAI)","doi":null,"url":null,"internal_url":null},{"position":21,"raw":"[Long and Fox, 2003] Derek Long and Maria Fox. The 3rd inter- national planning competition: Results and analysis. Journal of Artificial Intelligence Research, 20:1-59, 2003.","title":"The 3rd international planning competition: Results and analysis","authors":"Derek Long, Maria Fox","year":"2003","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":22,"raw":"[Muise et al., 2012] Christian Muise, Sheila A. McIlraith, and J. Christopher Beck. Improved Non-deterministic Planning by Exploiting State Relevance. In Proceedings of the 22nd In- ternational Conference on Automated Planning and Scheduling (ICAPS), pages 172-180, 2012.","title":"Improved Non-deterministic Planning by Exploiting State Relevance","authors":"Christian Muise, Sheila A Mcilraith, J Christopher Beck","year":"2012","venue":"Proceedings of the 22nd International Conference on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":23,"raw":"[Sacerdoti, 1974] Earl Sacerdoti. Planning in a hierarchy of ab- straction spaces. Artificial Intelligence, 5:115-135, 1974.","title":"Earl Sacerdoti. Planning in a hierarchy of abstraction spaces","authors":"Sacerdoti","year":"1974","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":24,"raw":"[Scala et al., 2016] Enrico Scala, Patrik Haslum, and Sylvie Thiébaux. Heuristics for numeric planning via subgoaling. In Proceedings of the 25th International Joint Conference on Artifi- cial Intelligence (IJCAI), pages 3228-3234, 2016.","title":"Heuristics for numeric planning via subgoaling","authors":"Enrico Scala, Patrik Haslum, Sylvie Thiébaux","year":"2016","venue":"Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI)","doi":null,"url":null,"internal_url":"/proceedings/2016/457"},{"position":25,"raw":"[Seipp and Helmert, 2013] Jendrik Seipp and Malte Helmert. Counterexample-guided cartesian abstraction refinement. In Pro- ceedings of the 23rd International Conference on Automated Planning and Scheduling (ICAPS), pages 347-351, 2013.","title":"Jendrik Seipp and Malte Helmert. Counterexample-guided cartesian abstraction refinement","authors":"Helmert Seipp","year":"2013","venue":"Proceedings of the 23rd International Conference on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":26,"raw":"[Seipp and Helmert, 2014] Jendrik Seipp and Malte Helmert. Di- verse and additive cartesian abstraction heuristics. In Proceed- ings of the 24th International Conference on Automated Planning and Scheduling (ICAPS), pages 289-297, 2014.","title":"Jendrik Seipp and Malte Helmert. Diverse and additive cartesian abstraction heuristics","authors":"Helmert Seipp","year":"2014","venue":"Proceedings of the 24th International Conference on Automated Planning and Scheduling (ICAPS)","doi":null,"url":null,"internal_url":null},{"position":27,"raw":"[Sievers et al., 2012] Silvan Sievers, Manuela Ortlieb, and Malte Helmert. Efficient implementation of pattern database heuristics for classical planning. In Proceedings of the 5th Symposium on Combinatorial Search (SoCS), pages 105-111, 2012.","title":"Efficient implementation of pattern database heuristics for classical planning","authors":"Sievers","year":"2012","venue":"Proceedings of the 5th Symposium on Combinatorial Search (SoCS)","doi":null,"url":null,"internal_url":null},{"position":28,"raw":"[Srivastava et al., 2011] Siddharth Srivastava, Shlomo Zilberstein, Neil Immerman, and Hector Geffner. Qualitative numeric plan- ning. In Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI), pages 1010-1016, 2011.","title":"Qualitative numeric planning","authors":"Siddharth Srivastava, Shlomo Zilberstein, Neil Immerman, Hector Geffner","year":"2011","venue":"Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI)","doi":null,"url":null,"internal_url":null},{"position":29,"raw":"[Srivastava et al., 2012] Siddharth Srivastava, Neil Immerman, and Shlomo Zilberstein. Applicability conditions for plans with loops: Computability results and algorithms. Artificial Intelli- gence, 191-192:1-19, 2012.","title":"Applicability conditions for plans with loops: Computability results and algorithms","authors":"Siddharth Srivastava, Neil Immerman, Shlomo Zilberstein","year":"2012","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":30,"raw":"[Waldinger, 1977] Richard Waldinger. Achieving several goals si- multaneously. In Machine Intelligence, volume 8, pages 94-136.","title":"Achieving several goals simultaneously","authors":"Richard Waldinger","year":null,"venue":"Machine Intelligence","doi":null,"url":null,"internal_url":null},{"position":31,"raw":"Ellis Horwood; Wiley, 1977.","title":null,"authors":"Ellis Horwood","year":"1977","venue":null,"doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}