Learning How to Ground a Plan - Partial Grounding in Classical Planning

Anonymous

Keywords: classical planning, grounding, heuristic search, machine learning, relational learning, inductive logic programming

TL;DR: This paper introduces partial grounding to tackle the problem that arises when the full grounding process, i.e., the translation of a PDDL input task into a ground representation like STRIPS, is infeasible due to memory or time constraints.

Abstract: Current classical planners are very successful in finding (non-optimal) plans, even for large planning instances. To do so, most planners rely on a preprocessing stage that computes a grounded representation of the task. Whenever the grounded task is too big to be generated (i.e., whenever this preprocess fails) the instance cannot even be tackled by the actual planner. To address this issue, we introduce a partial grounding approach that grounds only a projection of the task, when complete grounding is not feasible. We propose a guiding mechanism that, for a given domain, identifies the parts of a task that are relevant to find a plan by using off-the-shelf machine learning methods. Our empirical evaluation attests that the approach is capable of solving planning instances that are too big to be fully grounded.