introduction definition planning heuristics...
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Introduction
Definition
Heuristics
ConclusionPlanning
Jussi Rintanen
NICTA, Canberra
August 13, 2008
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Introduction
Definition
Heuristics
Conclusion
What is planning?
Domain-independent language for describing searchproblems.Domain-independent algorithms for solving searchproblems.
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Introduction
Definition
Heuristics
Conclusion
What is planning?
Definition:
Choose actions and their ordering, to achieve apre-defined goal.
Application areas:high-level planning for intelligent robotsautonomous systems: NASA Deep Space One, ...production planningproblem-solving (games like Rubik’s cube)
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Introduction
Definition
Heuristics
Conclusion
Why is planning difficult?
Solutions to simplest planning problems are paths froman initial state to a goal state in the transition graph.Efficiently solvable e.g. by Dijkstra’s algorithm inO(n log n) time.Q: Why don’t we solve all planning problems this way?A: State spaces are often huge: 109, 1012, 1015, . . .states. Constructing the transition graph explicitly is notfeasible!!Planning algorithms often are – but are not guaranteedto be – more efficient than the obvious solution methodof constructing the transition graph + running e.g.Dijkstra’s algorithm.
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Introduction
Definition
Heuristics
Conclusion
Why is planning difficult?
Solutions to simplest planning problems are paths froman initial state to a goal state in the transition graph.Efficiently solvable e.g. by Dijkstra’s algorithm inO(n log n) time.Q: Why don’t we solve all planning problems this way?A: State spaces are often huge: 109, 1012, 1015, . . .states. Constructing the transition graph explicitly is notfeasible!!Planning algorithms often are – but are not guaranteedto be – more efficient than the obvious solution methodof constructing the transition graph + running e.g.Dijkstra’s algorithm.
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Introduction
Definition
Heuristics
Conclusion
Why is planning difficult?
Solutions to simplest planning problems are paths froman initial state to a goal state in the transition graph.Efficiently solvable e.g. by Dijkstra’s algorithm inO(n log n) time.Q: Why don’t we solve all planning problems this way?A: State spaces are often huge: 109, 1012, 1015, . . .states. Constructing the transition graph explicitly is notfeasible!!Planning algorithms often are – but are not guaranteedto be – more efficient than the obvious solution methodof constructing the transition graph + running e.g.Dijkstra’s algorithm.
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Introduction
Definition
Heuristics
Conclusion
PlanningImplementation
1 Generic search algorithms (A∗, ...) and automaticallyderived heuristics.
2 Constraint-based methods (planning as CSP, SAT)3 Symbolic methods based on Binary Decision Diagrams
and similar data structures (symbolic breadth-firstsearch, symbolic heuristic search)
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Representation of transition systems
state = valuation of a finite set of state variables
Example
HOUR : {0, . . . , 23} = 13MINUTE : {0, . . . , 59}= 55LOCATION : { 51, 52, 82, 101, 102 } = 101WEATHER : { sunny, cloudy, rainy } = cloudyHOLIDAY : { T, F } = F
Any n-valued state variable can be represented bydlog2 ne Boolean (2-valued) state variables.Actions change the values of the state variables.
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Blocks worldThe transition graph for three blocks
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Blocks world with Boolean state variables
Example
AB
Cs(clearA) = 0 s(clearB) = 1 s(clearC) = 1s(AonB) = 0 s(AonC) = 0 s(AonTABLE) = 1s(BonA) = 1 s(BonC) = 0 s(BonTABLE) = 0s(ConA) = 0 s(ConB) = 0 s(ConTABLE) = 1
Not all valuations correspond to an intended state, e.g. ifs(AonB) = 1 and s(BonA) = 1.
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Actions
ActionsAn action 〈p, e〉 consists of
1 a precondition v1 = b1, . . . , vn = bn where vi are statevariables and bi are 0 or 1,
2 an effect v1 := b1, . . . , vm := bm where vi are statevariables and bi are 0 or 1.
Short-hands for conditions:a for a = 1¬a for a = 0
Short-hands for assignments:a for a := 1¬a for a := 0
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Actions
ExampleAction that moves B from A onto C:〈{BonA, clearB, clearC}, {BonC, clearA,¬BonA,¬clearC}〉.
AB
C ABC
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
ActionsThe successor state of a state
Executability
An action 〈p, e〉 is executable in a state s iff the preconditionp is true in s.
Successor statesThe successor state execo(s) of s with respect to o = 〈p, e〉is obtained from s by making the assignments in e.
Example
〈{a}, {¬a, b}〉 is executable in state s that satisfiesa = 1, b = 1, c = 1 because s(a) = 1.Hence a = 0, b = 1, c = 1 hold in exec〈{a},{¬a,b}〉(s).
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Planning problem
Transition system 〈V, I, A,G〉V is a finite set of state variables.I is an initial state (a valuation of V ).A is a set of actions over V .G is a set of conditions over V , the goals.
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Plans
PlansA plan for 〈V, I, A,G〉 is a sequence π = o1, . . . , on ofactions such that o1, . . . , on ∈ A and there is a sequence ofstates s0, . . . , sn (the execution of π) so that
1 s0 = I,2 si = execoi(si−1) for every i ∈ {1, . . . , n}, and3 sn satisfies G.
This can be equivalently expressed as
execon(execon−1(· · · execo1(I) · · · )) satisfies G.
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Search algorithms: A∗Example
GI
0+3 3
1+3
1+2
2+2
2+5 5
2+6 6
2+7
7
3+5
5
3+1
4+8
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Search algorithms: A∗Example
GI
0+3
1+3
3
1+2
2
2+2
2+5 5
2+6 6
2+7
7
3+5
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3+1
4+8
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Search algorithms: A∗Example
GI
0+3
1+3
3
1+2
2+2
2+5 5
2+6 6
2+7
7
3+5
5
3+1
4+8
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Search algorithms: A∗Example
GI
0+3
1+3
1+2
2+2
2
2+5 5
2+6 6
2+7
7
3+5
5
3+1
4+8
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Search algorithms: A∗Example
GI
0+3
1+3
1+2
2+2
2+5 5
2+6 6
2+7
7
3+5
5
3+1
1
4+8
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Introduction
DefinitionState variables
Actions
Plans
Heuristics
Conclusion
Search algorithms: A∗Example
GI
0+3
1+3
1+2
2+2
2+5 5
2+6 6
2+7
7
3+5
5
3+1
4+8
8
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Methods for constructing heuristics
Different forms of relaxation:1 ignore dependencies between variables2 project to a subset of variables and solve (optimally)
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Ignoring Dependencies between Variables
Basic insight: compute a “distance” for each statevariable, not individual states.This can be done in low-polynomial time in the size ofthe problem instance.
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
1 Tractor moves:from 1 to 2: T12 = 〈{T1}, {T2,¬T1}〉from 2 to 1: T21 = 〈{T2}, {T1,¬T2}〉from 2 to 3: T23 = 〈{T2}, {T3,¬T2}〉from 3 to 2: T32 = 〈{T3}, {T2,¬T3}〉
2 Tractor pushes A:from 2 to 1: A21 = 〈{T2, A2}, {T1, A1,¬T2,¬A2}〉from 3 to 2: A32 = 〈{T3, A3}, {T2, A2,¬T3,¬A3}〉
3 Tractor pushes B:from 2 to 1: B21 = 〈{T2, B2}, {T1, B1,¬T2,¬B2}〉from 3 to 2: B32 = 〈{T3, B3}, {T2, B2,¬T3,¬B3}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Execute T12 = 〈{T1}, {T2,¬T1}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Execute T23 = 〈{T2}, {T3,¬T2}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Execute A32 = 〈{T3, A3}, {T2, A2,¬T3,¬A3}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Execute B32 = 〈{T3, B3}, {T2, B2,¬T3,¬B3}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Execute A21 = 〈{T2, A2}, {T1, A1,¬T2,¬A2}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Execute B21 = 〈{T2, B2}, {T1, B1,¬T2,¬B2}〉
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Distance estimationTractor example
t T1 T2 T3 A1 A2 A3 B1 B2 B30 1 0 0 0 0 1 0 0 11 10 10 0 0 0 1 0 0 12 10 10 10 0 0 1 0 0 13 10 10 10 0 10 10 0 10 104 10 10 10 10 10 10 10 10 10
Heuristic estimate of distance of A1, B1 is 4.Actual distance of A1, B1 is 8.
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Abstraction Heuristics
Key observationEliminating any state variable can only reduce the length ofthe shortest plan.
Any abstraction, with some variables eliminated, yieldsa smaller state space.Distances in the abstract state space are lower boundsfor the distances in the state space itself.
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Abstraction Heuristics
The tractor example, abstracted to {A1, A2, A3, B1, B2, B3}(eliminating the tractor) yields actions
1 Tractor moves:from 1 to 2: T12 = 〈{}, {}〉from 2 to 1: T21 = 〈{}, {}〉from 2 to 3: T23 = 〈{}, {}〉from 3 to 2: T32 = 〈{}, {}〉
2 Tractor pushes A:from 2 to 1: A21 = 〈{A2}, {A1,¬A2}〉from 3 to 2: A32 = 〈{A3}, {A2,¬A3}〉
3 Tractor pushes B:from 2 to 1: B21 = 〈{B2}, {B1,¬B2}〉from 3 to 2: B32 = 〈{B3}, {B2,¬B3}〉
The abstract state space has 9 states (as opposed to 27).Reaching A1, B1 from the abstract initial state A3, B3 takes4 abstract actions.
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Introduction
Definition
HeuristicsRelaxations
Abstraction
Conclusion
Abstration HeuristicsAggregation of several abstractions
In practice it is only possible to use abstractions that retainonly very few state variables. These typically yield veryweak lower bounds.Useful strategy: aggregate several abstractions.
1 Maximum of lower bounds from different abstractions2 Sum of lower bounds from different abstractions,
provided that no action gets counted twice.3 More sophisticated aggregation methods exist.
Central problem: Which abstractions to aggregate?
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Introduction
Definition
Heuristics
Conclusion
Conclusions
Planning: problem-independent solution methods forsearch problemsWe considered one solution method: state-spacesearch, with problem-independent methods for derivingadmissible heuristics.Other solution methods exist (CSP, SAT, ...)Planning is more general than state-space search:
uncertainty (nondeterminism),different types of objectives (goals vs. rewards),rational, real time
leading to infinite state spaces, infinite executions, ...