Classical Planning with Avoid Conditions
Marcel Steinmetz, Jörg Hoffmann, Alisa Kovtunova, Stefan Borgwardt
[AAAI-22] Main Track
Abstract:
It is often natural in planning to specify conditions that should be avoided, characterizing dangerous or highly undesirable behavior. PDDL3 supports this with temporal-logic state trajectory constraints. Here we focus on the simpler case where the constraint is a non-temporal formula $\phi$ -- the avoid condition -- that must be false throughout the plan. We design techniques tackling such avoid conditions effectively. We show how to learn from search experience which states necessarily lead into $\phi$, and we show how to tailor abstractions to recognize that avoiding $\phi$ will not be possible starting from a given state. We run a large-scale experiment, comparing our techniques against compilation methods and against simple state pruning using $\phi$. The results show that our techniques are often superior.
Introduction Video
Sessions where this paper appears
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Poster Session 3
Blue 4
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Poster Session 12
Blue 4
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Oral Session 12
Blue 4
