The Planner Optimization Problem: Formulations and Frameworks

Yiyuan Lee, Katie Lee, Panpan Cai, David Hsu, Lydia E. Kavraki
3/12/2023
cs.AIcs.RO

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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.

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Cite this paper

@article{lee2023planner,
  title  = {The Planner Optimization Problem: Formulations and Frameworks},
  author = {Yiyuan Lee and Katie Lee and Panpan Cai and David Hsu and Lydia E. Kavraki},
  year   = {2023},
  eprint = {2303.06768},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2303.06768v2}
}

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