Pawel Gomoluch

Pawel Gomoluch, Dalal Alrajeh, Alessandra Russo et al.

Heuristic forward search is currently the dominant paradigm in classical planning. Forward search algorithms typically rely on a single, relatively simple variation of best-first search and remain fixed throughout the process of solving a planning problem. Existing work combining multiple search techniques usually aims at supporting best-first search with an additional exploratory mechanism, triggered using a handcrafted criterion. A notable exception is very recent work which combines various search techniques using a trainable policy. It is, however, confined to a discrete action space comprising several fixed subroutines. In this paper, we introduce a parametrized search algorithm template which combines various search techniques within a single routine. The template's parameter space defines an infinite space of search algorithms, including, among others, BFS, local and random search. We further introduce a neural architecture for designating the values of the search parameters given the state of the search. This enables expressing neural search policies that change the values of the parameters as the search progresses. The policies can be learned automatically, with the objective of maximizing the planner's performance on a given distribution of planning problems. We consider a training setting based on a stochastic optimization algorithm known as the cross-entropy method (CEM). Experimental evaluation of our approach shows that it is capable of finding effective distribution-specific search policies, outperforming the relevant baselines.

Pawel Gomoluch, Dalal Alrajeh, Alessandra Russo

A common paradigm in classical planning is heuristic forward search. Forward search planners often rely on simple best-first search which remains fixed throughout the search process. In this paper, we introduce a novel search framework capable of alternating between several forward search approaches while solving a particular planning problem. Selection of the approach is performed using a trainable stochastic policy, mapping the state of the search to a probability distribution over the approaches. This enables using policy gradient to learn search strategies tailored to a specific distributions of planning problems and a selected performance metric, e.g. the IPC score. We instantiate the framework by constructing a policy space consisting of five search approaches and a two-dimensional representation of the planner's state. Then, we train the system on randomly generated problems from five IPC domains using three different performance metrics. Our experimental results show that the learner is able to discover domain-specific search strategies, improving the planner's performance relative to the baselines of plain best-first search and a uniform policy.

Pawel Gomoluch, Dalal Alrajeh, Alessandra Russo et al.

Automated planning remains one of the most general paradigms in Artificial Intelligence, providing means of solving problems coming from a wide variety of domains. One of the key factors restricting the applicability of planning is its computational complexity resulting from exponentially large search spaces. Heuristic approaches are necessary to solve all but the simplest problems. In this work, we explore the possibility of obtaining domain-independent heuristic functions using machine learning. This is a part of a wider research program whose objective is to improve practical applicability of planning in systems for which the planning domains evolve at run time. The challenge is therefore the learning of (corrections of) domain-independent heuristics that can be reused across different planning domains.