Gradient-Based Mixed Planning with Discrete and Continuous Actions

10/19/2021
by   Kebing Jin, et al.
0

Dealing with planning problems with both discrete logical relations and continuous numeric changes in real-world dynamic environments is challenging. Existing numeric planning systems for the problem often discretize numeric variables or impose convex quadratic constraints on numeric variables, which harms the performance when solving the problem. In this paper, we propose a novel algorithm framework to solve the numeric planning problems mixed with discrete and continuous actions based on gradient descent. We cast the numeric planning with discrete and continuous actions as an optimization problem by integrating a heuristic function based on discrete effects. Specifically, we propose a gradient-based framework to simultaneously optimize continuous parameters and actions of candidate plans. The framework is combined with a heuristic module to estimate the best plan candidate to transit initial state to the goal based on relaxation. We repeatedly update numeric parameters and compute candidate plan until it converges to a valid plan to the planning problem. In the empirical study, we exhibit that our algorithm framework is both effective and efficient, especially when solving non-convex planning problems.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 23

page 25

page 32

page 33

10/02/2020

Integrated Task and Motion Planning

The problem of planning for a robot that operates in environments contai...
04/05/2016

Landmark-Based Plan Recognition

Recognition of goals and plans using incomplete evidence from action exe...
03/14/2019

Incremental Learning of Discrete Planning Domains from Continuous Perceptions

We propose a framework for learning discrete deterministic planning doma...
02/16/2021

Optimal Mixed Discrete-Continuous Planning for Linear Hybrid Systems

Planning in hybrid systems with both discrete and continuous control var...
12/12/2012

Planning under Continuous Time and Resource Uncertainty: A Challenge for AI

We outline a class of problems, typical of Mars rover operations, that a...
01/23/2014

COLIN: Planning with Continuous Linear Numeric Change

In this paper we describe COLIN, a forward-chaining heuristic search pla...
05/21/2021

Efficient Temporal Piecewise-Linear Numeric Planning with Lazy Consistency Checking

State-of-the-art temporal planners that support continuous numeric effec...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.