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Compiling Uncertainty Away: Solving Conformant Planning Problems Using a Classical Planner (Sometimes)

机译:编译不确定性:使用古典规划师解决符合规划问题(有时)

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Even under polynomial restrictions on plan length, conformant planning remains a very hard computational problem as plan verification itself can take exponential time. This heavy price cannot be avoided in general although in many cases conformant plans are verifiable efficiently by means of simple forms of disjunctive inference. This raises the question of whether it is possible to identify and use such forms of inference for developing an efficient but incomplete planner capable of solving non-trivial problems quickly. In this work, we show that this is possible by mapping conformant into classical problems that are then solved by an off-the-shelf classical planner. The formulation is sound as the classical plans obtained are all conformant, but it is incomplete as the inverse relation does not always hold. The translation accommodates 'reasoning by cases' by means of an 'split-protect-and-merge' strategy; namely, atoms L/X{sub}i that represent conditional beliefs 'if X{sub}i then L' are introduced in the classical encoding, that are combined by suitable actions to yield the literal L when the disjunction X{sub}1 ∨...∨ X{sub}n holds and certain invariants in the plan are verified. Empirical results over a wide variety of problems illustrate the power of the approach.
机译:即使在计划长度的多项式限制下,符合规划仍然是一个非常硬的计算问题,因为计划验证本身可以采取指数时间。通常不能避免这种沉重的价格,尽管在许多情况下,通过简单的分解推断,符合计划是有效的验证的。这提出了是否有可能识别和使用这些形式的推断,以便快速解决能够解决非琐碎问题的有效但不完整的计划者的这种推断。在这项工作中,我们表明这可以通过绘制符合符合物质的经典问题来实现这一点可以通过现成的古典计划者解决的经典问题。作为所获得的经典计划是全部符合的,制定是声音的,但由于逆关系并不总是保持不完整。翻译通过“分裂保护和合并”策略,适用于“推理”即,原子L / X {子}我表示有条件的信念“如果X {子} i,那么L”在经典的编码,即通过适当的操作组合以产生字面L的引入当析取X {子} 1 ∨...∨x {sub} n保持和计划中的某些不变性。在各种问题上的经验结果说明了方法的力量。

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