concepts.pdsketch.planners.optimistic_search#
CSP-based PDSketch planner. At the high-level, this planner defers the decision of all continuous parameters to a CSP solver. During forward search, the planner only make decisions about discrete parameters (mostly object-typed parameters), and record all preconditions and goal tests that involve continuous parameters to an accumulated CSP data structure.
At each step, the planner will internally call a CSP solver to solve the accumulated CSP. If the CSP solver returns a solution, the planner will generate the corresponding fully-grounded trajectory based on the discrete parameters and the CSP solution.
Functions
|
Apply an action to a state. |
|
Construct a CSP from an optimistic plan. |
|
Test whether a state satisfies a goal expression with DPLL+Sampling CSP solver. |
|
Ground a single action with a given assignment to the underlying CSP. |
|
Ground a list of actions with a given assignment to the underlying CSP. |
|
Instantiate an action by replacing all placeholder values with a new optimistic variable. |
|
Perform brute-force search with DPLL+Sampling algorithm for mixed discrete-continuous domains. |
|
Check whether a domain is suitable for optimistic search. |
|
Perform heuristic search with DPLL+Sampling algorithm and STRIPS-based heuristics, for mixed discrete-continuous domains. |
|
Prepare for optimistic search. |
|
Solve an optimistic plan using the DPLL+Sampling algorithm. |
Classes
The state for heuristic search. |