Planning in Factored State and Action Spaces with Learned Binarized Neural Network Transition Models

Planning in Factored State and Action Spaces with Learned Binarized Neural Network Transition Models

Buser Say, Scott Sanner

Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence
Main track. Pages 4815-4821. https://doi.org/10.24963/ijcai.2018/669

In this paper, we leverage the efficiency of Binarized Neural Networks (BNNs) to learn complex state transition models of planning domains with discretized factored state and action spaces. In order to directly exploit this transition structure for planning, we present two novel compilations of the learned factored planning problem with BNNs based on reductions to Boolean Satisfiability (FD-SAT-Plan) as well as Binary Linear Programming (FD-BLP-Plan). Experimentally, we show the effectiveness of learning complex transition models with BNNs, and test the runtime efficiency of both encodings on the learned factored planning problem. After this initial investigation, we present an incremental constraint generation algorithm based on generalized landmark constraints to improve the planning accuracy of our encodings. Finally, we show how to extend the best performing encoding (FD-BLP-Plan+) beyond goals to handle factored planning problems with rewards.
Keywords:
Constraints and SAT: Modeling;Formulation
Machine Learning: Neural Networks
Planning and Scheduling: Model-Based Reasoning
Planning and Scheduling: Other approaches to planning