Planning and Search: Classical Planning: Planning Graphs, Graphplan

Planning and Search
Classical Planning: Planning graphs, Graphplan
Classical Planning: Planning graphs, Graphplan 1

Outline
♦ Propositionalising planning problems
♦ Planning graphs
♦ Heuristics
♦ GraphPlan algorithm

Propositional planning problems
Both GraphPlan and SATPlan (in the next lecture) apply to propositional
planning problem
How to propositionalise PDDL action schema: replace each action schema
with a set of all its ground (no variables) instances.
For example, replace
M ove(b, x, y):
Precond: On(b, x) ∧ Clear(b) ∧ Clear(y)
Effect: On(b, y) ∧ Clear(x) ∧ ¬On(b, x) ∧ ¬Clear(y)
with
M ove(A, B, C):
Precond: On(A, B) ∧ Clear(A) ∧ Clear(C)
Effect: On(A, C) ∧ Clear(B) ∧ ¬On(A, B) ∧ ¬Clear(C)

M ove(A, C, B):
Precond: On(A, C) ∧ Clear(A) ∧ Clear(B)
Effect: On(A, B) ∧ Clear(C) ∧ ¬On(A, C) ∧ ¬Clear(B)
M ove(B, A, C):
Precond: On(B, A) ∧ Clear(B) ∧ Clear(C)
Effect: On(B, C) ∧ Clear(A) ∧ ¬On(B, A) ∧ ¬Clear(C)
and so on.
Ground fluents can be treated as propositional symbols: On(A, B) as some-
thing like pAB .

Planning graphs
GraphPlan is an algorithm based on planning graph
Planning graphs are also used as a source of heuristics (an estimate of how
many steps it takes to reach the goal)
Planning graph is an approximation of a complete tree of all possible actions
and their results

Planning graph 2
Planning graph is organised into levels
Level S0: initial state, consisting of nodes representing each fluent that holds
in S0
Level A0: each ground action that might be applicable in S0
Then alternate Si and Ai
Si contains fluents which could hold at time i, (may be both P and ¬P );
literals may show up too early but never too late
Ai contains actions which could have their preconditions satisfied at i

Example
Initial state: Have(Cake)
Goal: Have(Cake) ∧ Eaten(Cake)
Eat(Cake):
Precond: Have(Cake)
Effect: ¬Have(Cake) ∧ Eaten(Cake)
Bake(Cake):
Precond: ¬Have(Cake)
Effect: Have(Cake)

(Incomplete) planning graph example

Building a planning graphs
In addition to ‘normal’ action, persistence action or no-op (no operation):
one for each fluent, preserves the fluent’s truth.
Mutex or mutual exclusion links depicted by red semicircles mean that actions
cannot occur together
Similarly there are mutex links between fluents.
Build the graph until two consecutive levels are identical; then the graph
levels off.

Another incomplete planning graph example

Mutex between actions
Mutex relation holds between two actions at the same level if any of the
following three conditions holds:
♦ Inconsistent effects: one action negates an effect of another. For exam-
ple, Eat(Cake) and persistence for Have(Cake) have inconsistent effects
(¬Have(Cake) and Have(Cake))
♦ Interference: one of the effects of one action is the negation of a precon-
dition of the other. For example Eat(Cake) interferes with the persistence
of Have(Cake) by negating its precondition
♦ Competing needs: one of the preconditions of one action is mutually
exclusive with a precondition of the other. For example, Eat(Cake) has pre-
condition Have(Cake) and Bake(Cake) has precondition of ¬Have(Cake).

Mutex between fluents
Mutex holds between fluents if:
♦ they are negations of each other, like Have(Cake) and ¬Have(Cake)
♦ each possible pair of actions that could achieve the two literals is mutually
exclusive, for example Have(Cake) and Eaten(Cake) in S1 can only be
achieved by persistence for Have(Cake) and by Eat(Cake) respectively.
(In S2 can use persistence for Eaten(Cake) and Bake(Cake) which are
not mutex).

Planning graph example

Size of the planning graph
Polynomial in the size of the problem (unlike a complete search tree, which
is exponential!)
If we have n literals and a actions,
each Si has no more than n nodes and n2 mutex links,
each Ai has no more than a + n nodes (n because of no-ops), (a + n)2
mutex links, and 2(an + n) precondition and effect links.
Hence, a graph with k levels has O(k(a + n)2) size.

Using planning graph for heuristic estimation
If some goal literal does not appear in the final level of the graph, the goal
is not achievable
The cost of achieving any goal literal can be estimated by counting the
number of levels before it appears
This heuristic never overestimates
It underestimates because planning graph allows application of actions (in-
cluding incompatible actions) in parallel
Conjunctive goals:
max level heuristic: max level for any goal conjunct (admissible but inaccu-
rate)
set level heuristic: which level they all occur on without mutex links (better,
also admissible)

FastForward
Example of a planning system using planning graphs for heuristics
FF or FastForward system (Hoffman 2005)
Forward space searcher
Ignore-delete-lists heuristic (see lecture 9) estimated using planning graph
Uses hill-climbing search with this heuristic to find solution
When hits a plateau or local maximum uses iterative deepening to find a
better state or gives up and restarts hill-climbing

GraphPlan
GraphPlan repeatedly adds a level to a planning graph with Expand-Graph.
Once all the goals show up as non-mutex in the graph, calls Extract-Solution
on the graph to search for a plan.
If that fails, extracts another level.

GraphPlan algorithm
function GraphPlan(problem) returns solution or failure

graph ← Initial-Planning-Graph(problem)
goals ← Conjuncts(problem.Goal)
loop do
if goals all non-mutex in last level of graph then do
solution ← Extract-Solution(graph,goals, NumLevels(graph)
if solution 6 = failure then return solution
else if No-solution-possible(graph) then return failure
graph ← Expand-Graph(graph,problem)

Extracting solution
Backward search problem:
The initial state is the last level of the planning graph, Sn, along with the
set of goals
Available actions in Si: any set of conflict-free actions in Ai−1 whose effects
cover the goals in the state. Conflict-free means: no two actions are mutex
and no two of their preconditions are mutex.
The result of applying it is a subset of Si−1 which has as its set of goals the
preconditions of the selected set of actions.
The goal is to reach a state at level S0 such that all the goals are satisfied.
The cost of each action is 1.

Heuristic
The search may still degenerate to an exponential exploration
Heuristic:
1. Pick the literal with a highest level cost
2. To achieve this literal, pick actions with easiest preconditions (the set of
preconditions which has the smallest max level cost)

Termination of GraphPlan
The graph will level off (assuming a finite set of literals and actions):
♦ Literals in planning graphs increase monotonically (because of persis-
tence)
♦ Actions increase monotonically (because preconditions don’t go away)
♦ Mutexes decrease monotonically (if two actions are mutex at level t, they
were mutex at all previous levels)
When the graph levels off, if it is missing one of the goal conjuncts or two
of the goals are mutex, solution is impossible and GraphPlan returns failure.
If the graph levels off but Extract-Solution fails to find a solution, we
mey need to expand the graph finitely many times (but this will terminate -
uses additional tricks).

Next lecture
SATPLan
Complexity of classical planning
Successful classical planning systems
Russell and Norvig 3rd edition chapter 10
Russell and Norvig 2nd edition chapter 11

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Planning and Search

Classical Planning: Planning graphs, Graphplan

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function GraphPlan(problem) returns solution or failure

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