Learning Sketches for Decomposing Planning Problems into Subproblems of Bounded Width

Authors

  • Dominik Drexler Linköping University
  • Jendrik Seipp Linköping University
  • Hector Geffner ICREA Universitat Pompeu Fabra Linköping University

Keywords:

Classical Planning, Serialized Iterated Width, Learning The Subgoal Structure, Policy Sketches, Combinatorial Optimization Approach

Abstract

Recently, sketches have been introduced as a general language for representing the subgoal structure of instances drawn from the same domain. Sketches are collections of rules of the form C -> E over a given set of features where C expresses Boolean conditions and E expresses qualitative changes. Each sketch rule defines a subproblem: going from a state that satisfies C to a state that achieves the change expressed by E or a goal state. Sketches can encode simple goal serializations, general policies, or decompositions of bounded width that can be solved greedily, in polynomial time, by the SIW_R variant of the SIW algorithm. Previous work has shown the computational value of sketches over benchmark domains that, while tractable, are challenging for domain-independent planners. In this work, we address the problem of learning sketches automatically given a planning domain, some instances of the target class of problems, and the desired bound on the sketch width. We present a logical formulation of the problem, an implementation using the ASP solver Clingo, and experimental results. The sketch learner and the SIW_R planner yield a domain-independent planner that learns and exploits domain structure in a crisp and explicit form.

Downloads

Published

2022-06-13

How to Cite

Drexler, D., Seipp, J., & Geffner, H. (2022). Learning Sketches for Decomposing Planning Problems into Subproblems of Bounded Width. Proceedings of the International Conference on Automated Planning and Scheduling, 32(1), 62-70. Retrieved from https://ojs.aaai.org/index.php/ICAPS/article/view/19786