Metric hybrid factored planning in nonlinear domains with constraint generation

Buser Say, Scott Sanner

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1 Citation (Scopus)

Abstract

We introduce a novel planner SCIPPlan for metric hybrid factored planning in nonlinear domains with general metric objectives, transcendental functions such as exponentials, and instantaneous continuous actions. Our key contribution is to leverage the spatial branch-and-bound solver of SCIP inside a nonlinear constraint generation framework where we iteratively check relaxed plans for temporal feasibility using a domain simulator, and repair the source of the infeasibility through a novel nonlinear constraint generation methodology. We experimentally evaluate SCIPPlan on a variety of domains, showing it is competitive with, or outperforms, ENHSP in terms of run time and makespan and handles general metric objectives. SCIPPlan is also competitive with a general metric-optimizing unconstrained Tensorflow-based planner (TF-Plan) in nonlinear domains with exponential transition functions and metric objectives. Overall, this work demonstrates the potential of combining nonlinear optimizers with constraint generation for planning in expressive metric nonlinear hybrid domains.
Original languageEnglish
Title of host publicationIntegration of Constraint Programming, Artificial Intelligence, and Operations Research
Subtitle of host publication16th International Conference, CPAIOR 2019 Thessaloniki, Greece, June 4–7, 2019 Proceedings
EditorsLouis-Martin Rousseau, Kostas Stergiou
Place of PublicationCham Switzerland
PublisherSpringer
Pages502-518
Number of pages17
ISBN (Electronic)9783030192129
ISBN (Print)9783030192112
Publication statusPublished - 2019
Externally publishedYes
EventInternational Conference on Integration of Artificial Intelligence and Operations Research Techniques in Constraint Programming for Combinatorial Optimization Problems 2019
- Thessaloniki, Greece
Duration: 4 Jun 20197 Jun 2019
Conference number: 16th
https://cpaior2019.uowm.gr/ (Conference website)
https://link.springer.com/book/10.1007/978-3-030-19212-9 (Proceedings)

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume11494
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceInternational Conference on Integration of Artificial Intelligence and Operations Research Techniques in Constraint Programming for Combinatorial Optimization Problems 2019
Abbreviated titleCPAIOR 2019
CountryGreece
CityThessaloniki
Period4/06/197/06/19
Internet address

Keywords

  • Constraint generation
  • Metric hybrid planning
  • Nonlinear optimization

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