The combination of learning by demonstration and planning has proved an effective solution for real-time strategy games. Nevertheless, learning hierarchical plans from expert traces also has its limitations regarding the number of training traces required, and the absence of mechanisms for rapidly reacting to high priority goals. We propose to bring the game designer back into the loop, by allowing him to explicitly inject decision making knowledge, in the form of behavior trees, to complement the knowledge obtained from the traces. By providing a natural mechanism for designers to inject knowledge into the plan library, we intend to integrate the best of both worlds: learning from traces and hard-coded rules.

Given an n -team sports league, the Traveling Tournament Problem (TTP) seeks to determine an optimal double round-robin schedule minimizing the sum total of distances traveled by the n teams as they move from city to city. In the TTP, the number of "rounds" is fixed at r = 2. In this paper, we propose the Multi-Round Balanced Traveling Tournament Problem (mb-TTP), inspired by the actual league structure of Japanese professional baseball, where n = 6 teams play 120 intra-league games over r = 8 rounds, subject to various constraints that ensure competitive balance. These additional balancing constraints enable us to reformulate the 2 k -round mb-TTP as a shortest path problem on a directed graph, for all k >= 1. We apply our theoretical algorithm to the 6-team Nippon (Japanese) Professional Baseball Central League, creating a distance-optimal schedule with 57836 kilometres of total travel, a 26.8% reduction compared to the 79067 kilometres traveled by these six teams during the 2010 regular season.

We investigate a hybrid between temporal partial-order and forward-chaining planning where each action in a partially ordered plan is associated with a partially defined state. The focus is on centralized planning for multi-agent domains and on loose commitment to the precedence between actions belonging to distinct agents, leading to execution schedules that are flexible where it matters the most. Each agent, on the other hand, has a sequential thread of execution reminiscent of forward-chaining. This results in strong and informative agent-specific partial states that can be used for partial evaluation of preconditions as well as precondition control formulas used as guidance. Empirical evaluation shows the resulting planner to be competitive with TLplan and TALplanner, two other planners based on control formulas, while using a considerably more expressive and flexible plan structure.

Current evaluation functions for heuristic planning are expensive to compute. In numerous planning problems these functions provide good guidance to the solution, so they are worth the expense. However, when evaluation functions are misguiding or when planning problems are large enough, lots of node evaluations must be computed, which severely limits the scalability of heuristic planners. In this paper, we present a novel solution for reducing node evaluations in heuristic planning based on machine learning. Particularly, we define the task of learning search control for heuristic planning as a relational classification task, and we use an off-the-shelf relational classification tool to address this learning task. Our relational classification task captures the preferred action to select in the different planning contexts of a specific planning domain. These planning contexts are defined by the set of helpful actions of the current state, the goals remaining to be achieved, and the static predicates of the planning task. This paper shows two methods for guiding the search of a heuristic planner with the learned classifiers. The first one consists of using the resulting classifier as an action policy. The second one consists of applying the classifier to generate lookahead states within a Best First Search algorithm. Experiments over a variety of domains reveal that our heuristic planner using the learned classifiers solves larger problems than state-of-the-art planners.

Most current planners assume complete domain models and focus on generating correct plans. Unfortunately, domain modeling is a laborious and error-prone task. While domain experts cannot guarantee completeness, often they are able to circumscribe the incompleteness of the model by providing annotations as to which parts of the domain model may be incomplete. In such cases, the goal should be to generate plans that are robust with respect to any known incompleteness of the domain. In this paper, we first introduce annotations expressing the knowledge of the domain incompleteness, and formalize the notion of plan robustness with respect to an incomplete domain model. We then propose an approach to compiling the problem of finding robust plans to the conformant probabilistic planning problem. We present experimental results with Probabilistic-FF, a state-of-the-art planner, showing the promise of our approach.

Sequential decision tasks present many opportunities for the study of transfer learning. A principal one among them is the existence of multiple domains that share the same underlying causal structure for actions. We describe an approach that exploits this shared causal structure to discover a hierarchical task structure in a source domain, which in turn speeds up learning of task execution knowledge in a new target domain. Our approach is theoretically justified and compares favorably to manually designed task hierarchies in learning efficiency in the target domain. We demonstrate that causally motivated task hierarchies transfer more robustly than other kinds of detailed knowledge that depend on the idiosyncrasies of the source domain and are hence less transferable.

We have explored the use of analogy as a general approach to near and far transfer learning in domains ranging from physics problem solving to strategy games (Klenk and Forbus 2007; Hinrichs and Forbus 2007). Using the same basic analogical mechanism, we have found that the main differences between near and far transfer involve the amount of generalization that must be performed prior to transfer and the way that the matching process treats nonidentical predicates. We present here two extensions of our analogical matcher, minimal ascension and metamapping, that enable far transfer between representations with different relational vocabulary. Evidence for the effectiveness of these techniques is provided by a large-scale external evaluation, involving a substantial number of novel distant analogs.

David McAllester and David Rosenblitt's paper, "Systematic Nonlinear Planning" (published This commentary by Daniel S. Weld describes David Rosenblitt's paper, "Systematic Nonlinear Planning" (McAllester and Rosenblitt 1991), presented 19 years ago at the Ninth National Conference on Artificial Intelligence (AAAI-91), had two major impacts on the field: (1) an elegant algorithm and (2) endorsement of the lifting technique. The paper's biggest impact stems from its extremely clear and simple presentation of a sound and complete algorithm (known as SNLP or POP) for classical planning. While it is easy to define such an algorithm as search through the space of world states, SNLP is a "partialorder" planner, meaning it searches the space of partially specified plans, where only partial constraints on action arguments and ordering decisions are maintained. Here, McAllester and Rosenblitt benefited from David Chapman's elegant TWEAK planner, which greatly clarified previous partial-order algorithms (Chapman 1985). SNLP's key feature is the use of a data structure, called a causal link, to record the planner's commitment to establish a precondition of one action with the postcondition of another.

The collaboration between a human and a robot is here understood as a learning process mediated by the instructor prompt behaviours and the apprentice collecting information from them to learn a plan. The instructor wears the Gaze Machine, a wearable device gathering and conveying visual and audio input from the instructor while executing a task. The robot, on the other hand, is eager to learn both the best sequence of actions, their timing and how they interlace. The cross relation among actions is specified both in terms of time intervals for their execution, and in terms of location in space to cope with the instruction interaction with people and objects in the scene. We outline this process: how to transform the rich information delivered by the Gaze Machine into a plan. Specifically, how to obtain a map of the instructor positions and his gaze position, via visual slam and gaze fixations; further, how to obtain an action map from the running commentaries and the topological maps and, finally, how to obtain a temporal net of the relevant actions that have been extracted. The learned structure is then managed by the flexible time paradigm of flexible planning in the Situation Calculus for execution monitoring and plan generation.

Inspired by the Rapidly Exploring Random Tree data-structure and algorithm for path planning in high-dimensional, continuous spaces, we consider an approach for spanning a space with a group of simple robots. We employ a minimalist approach in which InfraRed and contact sensors form the primary means of communication; the agents physically embody the elements of the tree through their position and other agents can either follow the tree to useful locations or expand the tree by becoming part of it. Although robots are constrained in some of the operations they may perform in space, we argue that our approach remains consistent with the original data-structure. We demonstrate that one may perform a planning query from a point to the tree origin directly via message passing where passing involves direct physical motion or simple IR messages. Based on the work done by Werger and Matarić , our implementation proves that it is possible to form and maintain a RRT using simple position unaware robots. The work is important because it demonstrates that decentralized path planning can be performed by simple agents using purely reactive behaviors and at the same time poses significant challenges to keep the shape of the tree intact.