Amol D. Mali

AAAI Conference 1999 Short Paper

Externalizing Internal State

• Amol D. Mali
• Arizona State University

Current autonomous robots that are highly reactive are not significantly intelligent and the robots that are significantly intelligent are not highly reactive. The previous research has concentrated on modifications to internal computational structures of robots, ignoring the modifications to external environments (which can preserve both intelligence and reactivity). This work is the first to formalize the modification of an environment that externalizes the internal states.

AAAI Conference 1999 Short Paper

Hybrid Propositional Encodings of Planning

• Amol D. Mali
• Arizona State University

Casting planning as propositional satisfiability has been recently shown to be a very promising technique of plan synthesis. Some challenges, one of which is the de- velopment of hybrid propositional encodings (that com- bine the important notions from the existing encodings) have also been posed to the community. The existing encodings are either entirely based only on the plan space planning (also known as "causal" or "least com- mitment" or "partial order" planning) or only on the state space planning. To answer this challenge, we have developed several hybrid encodings.

AAAI Conference 1999 Conference Paper

On the Utility of Plan-Space (Causal) Encodings

• Amol D. Mali
• Subbarao Kambhampati
• Arizona State University

Recently, casting planning as propositional satisfiability has been shown to be a very promising technique for plan synthesis. Although encodings based both on statespace planning and on plan-space (causal) planning have been proposed, most implementations and trade-off evaluations primarily use state-based encodings. This is surprising given both the prominence of plan-space planners in traditional planning, as well as the recent claim that lifted versions of causal encodings provide the smallest encodings. In this paper we attempt a systematic analytical and empirical comparison of plan-space (causal) encodings and state-space encodings. We start by pointing out the connection between the different ways of proving the correctness of a plan, and the spectrum of possible SAT encodings. We then characterize the dimensions along which causal proofs, and consequently, plan-space encodings, can vary. We provide two encodings that are much smaller than those previously proposed. We then show that the smallest causal encodings cannot be smaller in size than the smallest state-based encodings. We shall show that the “lifting” transformation does not affect this relation. Finally, we will present some empirical results that demonstrate that the relative encoding sizes are indeed correlated with the hardness of solving them. We end with a discussion on when the primacy of traditional plan-space planners over state-space planners might carry over to their respective SAT encodings.

AAAI Conference 1998 Short Paper

Refinement-Based Planning as Satisfiability

• Amol D. Mali