The Planner Optimization Problem: Formulations and Frameworks

Yiyuan Lee, Katie Lee, Panpan Cai, David Hsu, Lydia E. Kavraki

Abstract: Identifying internal parameters for planning is crucial to maximizing the performance of a planner. However, automatically tuning internal parameters which are conditioned on the problem instance is especially challenging. A recent line of work focuses on learning planning parameter generators, but lack a consistent problem definition and software framework. This work proposes the unified planner optimization problem (POP) formulation, along with the Open Planner Optimization Framework (OPOF), a highly extensible software framework to specify and to solve these problems in a reusable manner.