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Hai S. Le

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3 papers

1 author row

AAAI Conference 2024 Conference Paper

Learning Safe Action Models with Partial Observability

Hai S. Le
Brendan Juba
Roni Stern

A common approach for solving planning problems is to model them in a formal language such as the Planning Domain Definition Language (PDDL), and then use an appropriate PDDL planner. Several algorithms for learning PDDL models from observations have been proposed but plans created with these learned models may not be sound. We propose two algorithms for learning PDDL models that are guaranteed to be safe to use even when given observations that include partially observable states. We analyze these algorithms theoretically, characterizing the sample complexity each algorithm requires to guarantee probabilistic completeness. We also show experimentally that our algorithms are often better than FAMA, a state-of-the-art PDDL learning algorithm.

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KR Conference 2021 Conference Paper

Safe Learning of Lifted Action Models

Brendan Juba
Hai S. Le
Roni Stern

Creating a domain model, even for classical, domain-independent planning, is a notoriously hard knowledge-engineering task. A natural approach to solve this problem is to learn a domain model from observations. However, model learning approaches frequently do not provide safety guarantees: the learned model may assume actions are applicable when they are not, and may incorrectly capture actions' effects. This may result in generating plans that will fail when executed. In some domains such failures are not acceptable, due to the cost of failure or inability to replan online after failure. In such settings, all learning must be done offline, based on some observations collected, e. g. , by some other agents or a human. Through this learning, the task is to generate a plan that is guaranteed to be successful. This is called the model-free planning problem. Prior work proposed an algorithm for solving the model-free planning problem in classical planning. However, they were limited to learning grounded domains, and thus they could not scale. We generalize this prior work and propose the first safe model-free planning algorithm for lifted domains. We prove the correctness of our approach, and provide a statistical analysis showing that the number of trajectories needed to solve future problems with high probability is linear in the potential size of the domain model. We also present experiments on twelve IPC domains showing that our approach is able to learn the real action model in all cases with at most two trajectories.

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AAAI Conference 2019 Conference Paper

Precision-Recall versus Accuracy and the Role of Large Data Sets

Brendan Juba
Hai S. Le

Practitioners of data mining and machine learning have long observed that the imbalance of classes in a data set negatively impacts the quality of classifiers trained on that data. Numerous techniques for coping with such imbalances have been proposed, but nearly all lack any theoretical grounding. By contrast, the standard theoretical analysis of machine learning admits no dependence on the imbalance of classes at all. The basic theorems of statistical learning establish the number of examples needed to estimate the accuracy of a classifier as a function of its complexity (VC-dimension) and the confidence desired; the class imbalance does not enter these formulas anywhere. In this work, we consider the measures of classifier performance in terms of precision and recall, a measure that is widely suggested as more appropriate to the classification of imbalanced data. We observe that whenever the precision is moderately large, the worse of the precision and recall is within a small constant factor of the accuracy weighted by the class imbalance. A corollary of this observation is that a larger number of examples is necessary and sufficient to address class imbalance, a finding we also illustrate empirically.

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