Planning in Probabilistic domains

Revisiting Graphplan

Revisiting Graphplan

Revisiting Graphplan: Some Speedups

The Probabilistic domain

Markov Decision Process

MDP

MDP (contd)

Key motivation

Extending Planning Graph

Key issues…

PGRAPHPLAN

PGRAPHPLAN Speedups
Unary Neededness

PGRAPHPLAN Speedups
Binary Neededness

PGRAPHPLAN Speedups
Value Propagation

TGRAPHPLAN

TGRAPHPLAN

Empirical Results

Empirical Results

Possibilities next…