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Recent work has demonstrated that motion planners’ performance can be significantly improved by retrieving past experiences from a database. Typically, the experience database is queried for past similar problems using a similarity function defined over the motion planning problems. However, to date, most works rely on simple hand-crafted similarity functions and fail to generalize outside their corresponding training dataset. To address this limitation, we propose (FIRE), a framework that extracts local representation of planning problems and learns a similarity function over them. To generate the training data we introduce a novel self-supervised method that identifies similar and dissimilar pairs of local primitives from past solution paths. With these pairs, a Siamese network is trained with the contrastive loss and the similarity function is realized in the network’s latent space. We evaluate FIRE on an 8-DOF manipulator in five categories of motion planning problems with sensed environments. Our experiments show that FIRE retrieves relevant experiences which can informatively guide sampling-based planners even in problems outside its training distribution, outperforming other baselines.
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Why Can't You Do That HAL? Explaining Unsolvability of Planning Tasks
Explainable planning is widely accepted as a pre- requisite for autonomous agents to successfully work with humans. While there has been a lot of research on generating explanations of solutions to planning problems, explaining the absence of so- lutions remains a largely open and under-studied problem, even though such situations can be the hardest to understand or debug. In this paper, we show that hierarchical abstractions can be used to efficiently generate reasons for unsolvability of planning problems. In contrast to related work on computing certificates of unsolvability, we show that our methods can generate compact, human- understandable reasons for unsolvability. Empirical analysis and user studies show the validity of our methods as well as their computational efficacy on a number of benchmark planning domains.
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- Award ID(s):
- 1844325
- PAR ID:
- 10111142
- Date Published:
- Journal Name:
- International Joint Conference on Artificial Intelligence
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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