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Synthesizing Robust Plans under Incomplete Domain Models
Tuan Nguyen and Subbarao Kambhampati
Department of CSE, Arizona State University
Minh Do
Palo Alto Research Center
Acknowledgement: Funding from ONR grants N00014-09-1-0017, N00014-07-1-1049, NFS grant IIS-0905672, and by DARPA and the U.S. Army Research Laboratory under contract W911NF-11-C-0037.
Planning – The Traditional View
PLANNER
Problem instance
Domain model
a1
a3
a2
Deterministicactions
Stochasticnon-deterministic
actions
“Valid” plan
“Probabilistic” plan/policy
add “p”delete “q”
0.4 : add “p”0.6 : delete “q”
COMPLETE/FULL MODEL
Laborious and error-prone!!!
Model-lite Planning as Generalized Planning
Model-lite PlanningA Domain Incompleteness View
Missing some preconditions/effects of actions(e.g. Garland & Lesh, AAAI-05)
I/O typesTask dependency
(e.g. workflows management, web service composition)
Deterministicactions
Stochastic,non-deterministic
actions
There are known knowns; there are things we know that we know. There are known unknowns; that is to say, there are things that we now know we don’t know. But there are also unknown unknowns; there are things we do not know we don’t know.
Problem Formulation
Incomplete domain Proposition set Action
D=⟨F , A ⟩
F={p1 , p2 , ... , pn}a∈A
a
p
p '
q
r
q '
r '
-
-
Pre(a)
Pre (a)
Add (a)
Del (a)
Add (a )
Del (a )
wapre( p ' )
wadel (r ' )
wadel (q ' )
Different from stochastic effects!
Problem Formulation
Transition function
D
D1 D2 D2K
Completion set
⟨ ⟨ D ⟩ ⟩
γ(π , I , D)= UDi∈⟨⟨ D ⟩⟩
γ(π , I , Di)
I π?
I
D
πDi
πD j
Assumption: “Inapplicable” actioncauses state unchanged
Challenges
Language for domain incompleteness A robustness measure for plans Generating robust plans
Incompleteness Annotation: Modeling Issues
Incompleteness annotations can be at Schema level
Grounded level Or in between
Incompleteness Annotation: Modeling Issues
Restriction on variable values
p (x3)
p ' (C 1 , x2)
q( x1)
r (x2)
q ' (x1 ,C 3)
r ' (x1 ,C 2)
-
a ( x1 , x2 , x3)
Possible precondition:
p ' ( x1 , x 2):when ( x 1=C 1)
-
Possible add:
q ' ( x1 , x3) : when (x 3=C 3)
Possible delete:
r ' (x 1 , x 2) : when ( x 2=C 2)The domain writer knows thatis NOT a precondition ofwhen , and may be in other cases
p ' ( x1 , x 2)a ( x1 , x2 , x3)
x1≠C 1
A tourist planning to have food in a small town is not sure if she needs to have cash. Her action have_food(M: Meals, C: Town) has possible precondition need_cash(M: Meals, C:Town): when (C=the town)
Incompleteness Annotation: Modeling Issues
Restriction on variables: Possible preconditions/effects depending on
values of some variables, but such values are unknown!
p (x3)
p ' (x1 , x2)
q( x1)
r (x2)
q ' (x1 , x3)
r ' (x1 , x2)
-
a ( x1 , x2 , x3)
p ' ( x1 , x 2) : depends x1
-
Possible add:
q ' ( x1 , x3) : depends x 3
Possible delete:
r ' (x 1 , x 2) : depends x 2
Possible precondition:
The domain writer knows thatis a possible precondition ofwhen has some specific value, but unknown.
p ' ( x1 , x 2)a ( x1 , x2 , x3)
x1
p ' ( x1 , x 2) : depends x1
have_food(M: Meals, C: Town) has possible precondition need_cash(M: Meals, C:Town): depends C
Incompleteness Annotation: Modeling Issues
Correlated incompleteness
a
p
p '
q
r
q '
r '
-
-
Pre(a)
Pre (a)
Add (a)
Del (a)
Add (a )
Del (a )
wapre( p ' )
wadel (r ' )
wadel (q ' )
If p' is realized as a precondition of a, then more likely that r' will be delete effect of the action.
Challenges
Language for domain incompleteness A robustness measure for plans Generating robust plans
A Robustness Measure for Plans
A plan in may fail or succeed in reaching goal states
DD
D1 D2 D2K
Completion set
⟨ ⟨ D ⟩ ⟩Plan execution reaches goal
state? yes no no
Plan robustness: Cummulative probability mass of complete models under which the plan
succeeds.
A Spectrum of Robust Planning Problems
Robustness assessment Maximally robust plan generation Generating plans with desired level of robustness Cost sensitive robust plan generation Incremental robustification
Challenges
Language for domain incompleteness A robustness measure for plans Generating robust plans
to Conformant Probabilistic Planning Problem
Conformant Probabilistic Planning Problem
Domain Proposition set
Action
Preconditions
Conditional effects
Problem
D'=⟨F ' , A ' ⟩
F '
a '∈A'
Pre (a ' )⊆F '
e=(cons(e ) , O (e)={(Pr (ϵ) , add (ϵ) , del (ϵ))})
Mutually exclusive and
exhaustive
P '=⟨D ' ,b I ,G ' ,ρ⟩
0.7
0.3
a' 0.2
0.8
Compilation Approach: An Example
Compilation Example
Compiled “pick-up”
Correctness of the compilation
Experimental Results
Logistics Two cities and each with a downtown and airport. Heavy packages at the downtown areas Robots at the airport of the city
Source of incompleteness: robots were made
from the same manufacturer, having possible
precondition that packages should not be heavy to pick. Goals: move packages from to and vice versa.
C 1 C 2
Ri ,1 , ... , Ri ,m C i
R1, j , R2, j
C 1 C 2C 1
Plans can be made more robust by using robots from different manufacturers after moving them into the downtown area, with the cost of increasing the plan length.
Experimental Results
Satellite Two satellites and orbiting the planet Earth Imagers installed on
Source of incompleteness: lense of were
made from the type of material and can produce
possible effect that images taken are mangled. Goals: images taken in some mode at some direction.
S1 S 2
Li ,1 , ... , Li ,m
L1, j , L2, j
Plans can be made more robust by using additional instruments, which might be in different satellites, but should be of different types of material and can also take an
image of the interested mode at some direction.
S i
M j
Experimental ResultsLogistics Satellite
Observations
Fixed the number of models:
Plan tends to be longer with increasing robustness threshold
Fixed the robustness threshold:
The maximal robustness value of plans that can be returned increases with higher number of manufacturers.
Number of models: 2m
Related work K-faults plans (Jensen et al 2004) Plan evaluation with incomplete models
(Garland & Lesh, 2002) Planning and Acting in Incomplete Domains
(Bryce & Weber, 2011) Robust temporal planning (Fox 2006) Handling incompleteness at the atomic level:
MDP with uncertain transition probabilities (Satia & Lave 1973; Delago & Sanner 2009)
Bounded parameter MDP (Givan, Leach, Dean 2000)
Conclusion & Future work Introduce planning with incomplete models Incompleteness annotations Robustness measure for plans A spectrum of robust planning problems Finding a plan with at least a robustness
value: compilation approach Future work:
Heuristic approach utilizing annotations Plan robustification, and other problems in
the spectrum.
Thank you!Q&A
Backup
Uniform distribution: 6/8 robustness
0.7
0.3
Belief state b
a' 0.2
0.8
Resulting belief state b'
R(π , P)= ∑D i∈⟨⟨ D ⟩ ⟩ ,γ(π , I ,G )∣%equal G
Pr (Di)
Problem Formulation
a
p
p '
q
r
q '
r '
-
-
Pre(a)
Problem Formulation
a
p
p '
q
r
q '
r '
-
-
Pre(a)
Pre (a)
Add (a)
Del (a)
Add (a )
Del (a )
wapre( p ' )
wadel (p' )
wadel (p' )