论文标题

任务范围:在开放模型中生成针对计划的特定任务抽象

Task Scoping: Generating Task-Specific Abstractions for Planning in Open-Scope Models

论文作者

Fishman, Michael, Kumar, Nishanth, Allen, Cameron, Danas, Natasha, Littman, Michael, Tellex, Stefanie, Konidaris, George

论文摘要

通用计划代理需要开放式世界模型:一个足够丰富的人可以解决其运营寿命的任何一项广泛的任务。这与典型的计划方法相反,在该方法中,模型的范围仅限于具有重要结构的特定任务系列。不幸的是,由于许多状态和动作必然存在于模型中,但与该问题无关,因此计划使用开放式模型解决任何特定任务,即使对于最新方法也是可棘手的。我们提出任务范围:一种利用对初始状态,目标条件和过渡系统知识的方法,以自动有效地删除计划问题中可证明的无关的变量和动作。我们的方法利用了因果链接分析和对状态变量(而不是状态)的倒退性,以及操作员合并(当对相关变量的影响相同时)。使用任务范围作为预先计划步骤可以通过数量级的顺序缩小搜索空间,并大大减少计划时间。我们从经验上证明,这些改进发生在包括Minecraft在内的各种开放式域中,我们的方法在搜索时间减少了75倍,即使在包括任务范围本身所需的时间之后,我们的方法也会导致搜索时间减少。

A general-purpose planning agent requires an open-scope world model: one rich enough to tackle any of the wide range of tasks it may be asked to solve over its operational lifetime. This stands in contrast with typical planning approaches, where the scope of a model is limited to a specific family of tasks that share significant structure. Unfortunately, planning to solve any specific task using an open-scope model is computationally intractable - even for state-of-the-art methods - due to the many states and actions that are necessarily present in the model but irrelevant to that problem. We propose task scoping: a method that exploits knowledge of the initial state, goal conditions, and transition system to automatically and efficiently remove provably irrelevant variables and actions from a planning problem. Our approach leverages causal link analysis and backwards reachability over state variables (rather than states) along with operator merging (when effects on relevant variables are identical). Using task scoping as a pre-planning step can shrink the search space by orders of magnitude and dramatically decrease planning time. We empirically demonstrate that these improvements occur across a variety of open-scope domains, including Minecraft, where our approach leads to a 75x reduction in search time with a state-of-the-art numeric planner, even after including the time required for task scoping itself.

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