PRP Rebooted: Advancing the State of the Art in FOND Planning
DOI:
https://doi.org/10.1609/aaai.v38i18.30001Keywords:
PRS: Planning under Uncertainty, SO: Heuristic SearchAbstract
Fully Observable Non-Deterministic (FOND) planning is a variant of classical symbolic planning in which actions are nondeterministic, with an action's outcome known only upon execution. It is a popular planning paradigm with applications ranging from robot planning to dialogue-agent design and reactive synthesis. Over the last 20 years, a number of approaches to FOND planning have emerged. In this work, we establish a new state of the art, following in the footsteps of some of the most powerful FOND planners to date. Our planner, PR2, decisively outperforms the four leading FOND planners, at times by a large margin, in 17 of 18 domains that represent a comprehensive benchmark suite. Ablation studies demonstrate the impact of various techniques we introduce, with the largest improvement coming from our novel FOND-aware heuristic.Downloads
Published
2024-03-24
How to Cite
Muise, C., McIlraith, S. A., & Beck, J. C. (2024). PRP Rebooted: Advancing the State of the Art in FOND Planning. Proceedings of the AAAI Conference on Artificial Intelligence, 38(18), 20212-20221. https://doi.org/10.1609/aaai.v38i18.30001
Issue
Section
AAAI Technical Track on Planning, Routing, and Scheduling