Planning searches for solutions through a general measure of state novelty. When the dynamics of the problem are given through simulator engines such as the Atari games (ALE), GVGAI, or complex robotic and UaV flight simulators, novelty exploration yields state-of-the-art performance compared to known alternatives such as MCTS. Novelty exploration can be combined as well with the exploitation of goal-based heuristics within a general Best First Width Search. BFWS can solve efficiently classical planning problems even when the action model is hidden, opening exciting opportunities to model beyond declarative action representations.
Papers:
(Disclaimer: this is not a comprehensive list, please get in touch to add relevant work that has been missed)
Table of Contents
- Classical Planning over STRIPS/PDDL
- Classical Planning over Simulators
- Planning over Factored Simulators in Functional STRIPS
- MDP over Simulators
- Multi Agent (Descentralisd & Privacy Preserving) Planning
Classical Planning over PDDL
- Classical Width Definition, Iterative Width (IW), Serialized IW (SIW), SIW+, and DFS+ algorithms
- Best First Width Search (BFWS) - N. Lipovetzky and H. Geffner, AAAI17
- Polynomial BFWS planner N. Lipovetzky and H. Geffner, ICAPS17
- BFWS and quantified heuristic novelty measures M. Katz, N. Lipovetzky, D. Moshkovich, A. Tuisov, ICAPS17
Classical Planning over Simulators
- IW over Atari Simulator (ALE)
Planning over Factored Simulators in Functional STRIPS
Factored simulators accept finite domain variables, and mixed Declarative and Programatic (simulated) dynamics
- BFWS with simulators and Functional STRIPS (FSTRIPS) - G. Francès, M. Ramirez, N. Lipovetzky, and H. Geffner, IJCAI17
- Task and Motion Planning - J. Ferrer-Mestres, G. Francès, and H. Geffner, ARXIV17
- UaV Hybrid Control - M. Ramirez, M. Papasimeon, N. Lipovetzky, L. Benke, T. Miller, A. Pearce, E. Scala, M. Zamani, AAMAS18
- BFWS online POMDP for Transparent Planning - A. MacNally, N. Lipovetzky, M. Ramirez, A. Pearce, AAMAS18
MDP over Simulators
- IW over General Videogame Competition (GVGAI) - T. Geffner and H. Geffner, AAIDE15
Multi Agent Descentralised and Privacy Preserving Planning
- Descentralised Best First Width Search (MA-BFWS) AE Gerevini, N Lipovetzky, F Percassi, A Saetti, I Serina, ICAPS2019
- Novelty Communication filtering for Strong Privacy Preserving Planning AE Gerevini, N Lipovetzky, N Peli, F Percassi, A Saetti, I Serina, SoCS2019
Demo Videos
Simulators screenshots