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Wheeler Ruml

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87 papers
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87

IJCAI Conference 2025 Conference Paper

Concurrent Planning and Execution Using Dispatch-Dependent Values

  • Andrew Coles
  • Erez Karpas
  • Eyal Shimony
  • Shahaf Shperberg
  • Wheeler Ruml

Agents operating in the real world must cope with the fact that time passes while they plan. In some cases, such as under tight deadlines, the only way for such an agent to achieve its goal is to execute an action before a complete plan has been found. This problem is called Concurrent Planning and Execution (CoPE). Previous work on CoPE relied on a value function that assumes search will finish before actions are executed, causing the agent to be overly pessimistic in many situations. In this paper, we define a new value function that takes into account the agent's ability to dispatch actions incrementally. This allows us to devise a much simpler algorithm for concurrent planning and execution. An experimental evaluation on problems with time pressure shows that the new method significantly outperforms the previous state-of-the-art.

ECAI Conference 2025 Conference Paper

Is This a Good Decision? Action Optimality Checking in Classical Planning

  • Jan Eisenhut
  • Daniel Fiser
  • Wheeler Ruml
  • Jörg Hoffmann 0001

Heuristic search is a prominent method for plan generation in classical planning. Here we address its use for a new problem that we baptize action optimality checking (AOC): checking whether a given action a is optimal in a given state s. AOC has various potential uses, e. g. quality assurance for learned action policies through checking example policy decisions. A vanilla algorithm for AOC is to run two A⋆ searches, on each of s and the outcome state s′ of applying a. We show that one can do much better than this. We introduce early termination criteria across multiple searches. Beyond this, we introduce AOCA⋆, which performs a single search on s that gives preference to paths going through s′. Our experiments show that AOCA⋆ is superior to the vanilla algorithm as well as other multiple-search configurations, consistently across three different state-of-the-art heuristic functions.

SoCS Conference 2024 Conference Paper

Evaluating Distributional Predictions of Search Time: Put Up or Shut Up Games (Extended Abstract)

  • Sean Mariasin
  • Andrew Coles
  • Erez Karpas
  • Wheeler Ruml
  • Solomon Eyal Shimony
  • Shahaf S. Shperberg

Metareasoning can be a helpful technique for controlling search in situations where computation time is an important resource, such as real-time planning and search, algorithm portfolios, and concurrent planning and execution. Metareasoning often involves an estimate of the remaining search time of a running algorithm, and several ways to compute such estimates have been presented in the literature. In this paper, we argue that many applications actually require a full estimated probability distribution over the remaining time, rather than just a point estimate of expected search time. We study several methods for estimating such distributions, including some novel adaptations of existing schemes. To properly evaluate the estimates, we introduce `put-up or shut-up games

ICAPS Conference 2024 Conference Paper

Planning and Acting While the Clock Ticks

  • Andrew Coles
  • Erez Karpas
  • Andrey Lavrinenko
  • Wheeler Ruml
  • Solomon Eyal Shimony
  • Shahaf S. Shperberg

Standard temporal planning assumes that planning takes place offline, and then execution starts at time 0. Recently, situated temporal planning was introduced, where planning starts at time 0, and execution occurs after planning terminates. Situated temporal planning reflects a more realistic scenario where time passes during planning. However, in situated temporal planning a complete plan must be generated before any action is executed. In some problems with time pressure, timing is too tight to complete planning before the first action must be executed. For example, an autonomous car that has a truck backing towards it should probably move out of the way now, and plan how to get to its destination later. In this paper, we propose a new problem setting: concurrent planning and execution, in which actions can be dispatched (executed) before planning terminates. Unlike previous work on planning and execution, we must handle wall clock deadlines that affect action applicability and goal achievement (as in situated planning) while also supporting dispatching actions before a complete plan has been found. We extend previous work on metareasoning for situated temporal planning to develop an algorithm for this new setting. Our empirical evaluation shows that when there is strong time pressure, our approach outperforms situated temporal planning.

SoCS Conference 2024 Conference Paper

Real-time Safe Interval Path Planning

  • Devin Wild Thomas
  • Wheeler Ruml
  • Solomon Eyal Shimony

Navigation among dynamic obstacles is a fundamental task in robotics that has been modeled in various ways. In Safe Interval Path Planning, location is discretized to a grid, time is continuous, future trajectories of obstacles are assumed known, and planning takes place offline. In this work, we define the Real-time Safe Interval Path Planning problem setting, in which the agent plans online and must issue its next action within a strict time bound. Unlike in classical real-time heuristic search, the cost-to-go in Real-time Safe Interval Path Planning is a function of time rather than a scalar. We present several algorithms for this setting and prove that they learn admissible heuristics. Empirical evaluation shows that the new methods perform better than classical approaches under a variety of conditions.

AAAI Conference 2024 Conference Paper

Rectangle Search: An Anytime Beam Search

  • Sofia Lemons
  • Wheeler Ruml
  • Rob Holte
  • Carlos Linares Lopez

Anytime heuristic search algorithms try to find a (potentially suboptimal) solution as quickly as possible and then work to find better and better solutions until an optimal solution is obtained or time is exhausted. The most widely-known anytime search algorithms are based on best-first search. In this paper, we propose a new algorithm, rectangle search, that is instead based on beam search, a variant of breadth-first search. It repeatedly explores alternatives at all depth levels and is thus best-suited to problems featuring deep local minima. Experiments using a variety of popular search benchmarks suggest that rectangle search is competitive with fixed-width beam search and often performs better than the previous best anytime search algorithms.

ICAPS Conference 2024 Conference Paper

Replanning in Advance for Instant Delay Recovery in Multi-Agent Applications: Rerouting Trains in a Railway Hub

  • Issa K. Hanou
  • Devin Wild Thomas
  • Wheeler Ruml
  • Mathijs de Weerdt

Train routing is sensitive to delays that occur in the network. When a train is delayed, it is imperative that a new plan be found quickly, or else other trains may need to be stopped to ensure safety, potentially causing cascading delays. In this paper, we consider this class of multi-agent planning problems, which we call Multi-Agent Execution Delay Replanning. We show that these can be solved by reducing the problem to an any-start-time safe interval planning problem. When an agent has an any-start-time plan, it can react to a delay by simply looking up the precomputed plan for the delayed start time. We identify crucial real-world problem characteristics like the agent

SoCS Conference 2024 Conference Paper

Tunable Suboptimal Heuristic Search

  • Stephen Wissow
  • Fanhao Yu
  • Wheeler Ruml

Finding optimal solutions to state-space search problems often takes too long, even when using A* with a heuristic function. Instead, practitioners often use a tunable approach, such as weighted A*, that allows them to adjust a trade-off between search time and solution cost until the search is sufficiently fast for the intended application. In this paper, we study algorithms for this problem setting, which we call `tunable suboptimal search

AAAI Conference 2023 Conference Paper

A Formal Metareasoning Model of Concurrent Planning and Execution

  • Amihay Elboher
  • Ava Bensoussan
  • Erez Karpas
  • Wheeler Ruml
  • Shahaf S. Shperberg
  • Eyal Shimony

Agents that plan and act in the real world must deal with the fact that time passes as they are planning. When timing is tight, there may be insufficient time to complete the search for a plan before it is time to act. By commencing execution before search concludes, one gains time to search by making planning and execution concurrent. However, this incurs the risk of making incorrect action choices, especially if actions are irreversible. This tradeoff between opportunity and risk is the problem addressed in this paper. Our main contribution is to formally define this setting as an abstract metareasoning problem. We find that the abstract problem is intractable. However, we identify special cases that are solvable in polynomial time, develop greedy solution algorithms, and, through tests on instances derived from search problems, find several methods that achieve promising practical performance. This work lays the foundation for a principled time-aware executive that concurrently plans and executes.

ICAPS Conference 2022 Conference Paper

Beam Search: Faster and Monotonic

  • Sofia Lemons
  • Carlos Linares López
  • Robert C. Holte
  • Wheeler Ruml

Beam search is a popular satisficing approach to heuristic search problems that allows one to trade increased computation time for lower solution cost by increasing the beam width parameter. We make two contributions to the study of beam search. First, we show how to make beam search monotonic; that is, we provide a new variant that guarantees nonincreasing solution cost as the beam width is increased. This makes setting the beam parameter much easier. Second, we show how using distance-to-go estimates can allow beam search to find better solutions more quickly in domains with non-uniform costs. Together, these results improve the practical effectiveness of beam search.

AAAI Conference 2022 Conference Paper

New Results in Bounded-Suboptimal Search

  • Maximilian Fickert
  • Tianyi Gu
  • Wheeler Ruml

In bounded-suboptimal heuristic search, one attempts to find a solution that costs no more than a prespecified factor of optimal as quickly as possible. This is an important setting, as it admits faster-than-optimal solving while retaining some control over solution cost. In this paper, we investigate several new algorithms for bounded-suboptimal search, including novel variants of EES and DPS, the two most prominent previous proposals, and methods inspired by recent work in bounded-cost search that leverages uncertainty estimates of the heuristic. We perform what is, to our knowledge, the most comprehensive empirical comparison of bounded-suboptimal search algorithms to date, including both search and planning benchmarks, and we find that one of the new algorithms, a simple alternating queue scheme, significantly outperforms previous work.

SoCS Conference 2022 Conference Paper

When to Commit to an Action in Online Planning and Search

  • Tianyi Gu 0001
  • Wheeler Ruml
  • Shahaf S. Shperberg
  • Solomon Eyal Shimony
  • Erez Karpas

In online planning, search is concurrent with execution. Under the formulation of planning as heuristic search, when a planner commits to an action, it re-roots its search tree at the node representing the outcome of that action. For the system to remain controlled, the planner must commit to a new action (perhaps a no-op) before the previously chosen action completes. This time pressure results in a real-time search. In this time-bounded setting, it can be beneficial to commit early, in order to perform more lookahead search focused below an upcoming state. In this paper, we propose a principled method for making this commitment decision. Our experimental evaluation shows that our scheme can outperform previously-proposed fixed strategies.

IJCAI Conference 2021 Conference Paper

Active Goal Recognition Design

  • Kevin C. Gall
  • Wheeler Ruml
  • Sarah Keren

In Goal Recognition Design (GRD), the objective is to modify a domain to facilitate early detection of the goal of a subject agent. Most previous work studies this problem in the offline setting, in which the observing agent performs its interventions before the subject begins acting. In this paper, we generalize GRD to the online setting in which time passes and the observer's actions are interleaved with those of the subject. We illustrate weaknesses of existing metrics for GRD and propose an alternative better suited to online settings. We provide a formal definition of this Active GRD (AGRD) problem and study an algorithm for solving it. AGRD occupies an interesting middle ground between passive goal recognition and strategic two-player game settings.

IJCAI Conference 2021 Conference Paper

Bounded-cost Search Using Estimates of Uncertainty

  • Maximilian Fickert
  • Tianyi Gu
  • Wheeler Ruml

Many planning problems are too hard to solve optimally. In bounded-cost search, one attempts to find, as quickly as possible, a plan that costs no more than a user-provided absolute cost bound. Several algorithms have been previously proposed for this setting, including Potential Search (PTS) and Bounded-cost Explicit Estimation Search (BEES). BEES attempts to improve on PTS by predicting whether nodes will lead to plans within the cost bound or not. This paper introduces a relatively simple algorithm, Expected Effort Search (XES), which uses not just point estimates but belief distributions in order to estimate the probability that a node will lead to a plan within the bound. XES's expansion order minimizes expected search time in a simplified formal model. Experimental results on standard planning and search benchmarks show that it consistently exhibits strong performance, outperforming both PTS and BEES. We also derive improved variants of BEES that can exploit belief distributions. These new methods advance the recent trend of taking advantage of uncertainty estimates in deterministic single-agent search.

AAAI Conference 2021 Conference Paper

Choosing the Initial State for Online Replanning

  • Maximilian Fickert
  • Ivan Gavran
  • Ivan Fedotov
  • Jörg Hoffmann
  • Rupak Majumdar
  • Wheeler Ruml

The need to replan arises in many applications. However, in the context of planning as heuristic search, it raises an annoying problem: if the previous plan is still executing, what should the new plan search take as its initial state? If it were possible to accurately predict how long replanning would take, it would be easy to find the appropriate state at which control will transfer from the previous plan to the new one. But as planning problems can vary enormously in their difficulty, this prediction can be challenging. Many current systems merely use a manually chosen constant duration. In this paper, we show how such ad hoc solutions can be avoided by integrating the choice of the appropriate initial state into the search process itself. The search is initialized with multiple candidate initial states and a time-aware evaluation function is used to prefer plans whose total goal achievement time is minimal. Experimental results show that this approach yields better behavior than either guessing a constant or trying to predict replanning time in advance. By making replanning more effective and easier to implement, this work aids in creating planning systems that can better handle the inevitable exigencies of real-world execution.

AAAI Conference 2021 Conference Paper

EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding

  • Jiaoyang Li
  • Wheeler Ruml
  • Sven Koenig

Multi-Agent Path Finding (MAPF), i. e. , finding collision-free paths for multiple robots, is important for many applications where small runtimes are necessary, including the kind of automated warehouses operated by Amazon. CBS is a leading two-level search algorithm for solving MAPF optimally. ECBS is a bounded-suboptimal variant of CBS that uses focal search to speed up CBS by sacrificing optimality and instead guaranteeing that the costs of its solutions are within a given factor of optimal. In this paper, we study how to decrease its runtime even further using inadmissible heuristics. Motivated by Explicit Estimation Search (EES), we propose Explicit Estimation CBS (EECBS), a new bounded-suboptimal variant of CBS, that uses online learning to obtain inadmissible estimates of the cost of the solution of each high-level node and uses EES to choose which high-level node to expand next. We also investigate recent improvements of CBS and adapt them to EECBS. We find that EECBS with the improvements runs significantly faster than the state-of-the-art bounded-suboptimal MAPF algorithms ECBS, BCP-7, and eMDD-SAT on a variety of MAPF instances. We hope that the scalability of EECBS enables additional applications for bounded-suboptimal MAPF algorithms.

ICAPS Conference 2021 Conference Paper

Situated Temporal Planning Using Deadline-aware Metareasoning

  • Shahaf S. Shperberg
  • Andrew Coles
  • Erez Karpas
  • Wheeler Ruml
  • Solomon Eyal Shimony

We address the problem of situated temporal planning, in which an agent's plan can depend on scheduled exogenous events, and thus it becomes important to take the passage of time into account during the planning process. Previous work on situated temporal planning has proposed simple pruning strategies, as well as complex schemes for a simplified version of the associated metareasoning problem. Although even the simplified version of the metareasoning problem is NP-hard, we provide a pseudo-polynomial time optimal solution to the case with known deadlines. We leverage intuitions emerging from this case to provide a fast greedy scheme that significantly improves upon previous schemes even for the case of unknown deadlines. Finally, we show how this new method can be applied inside a practical situated temporal planner. An empirical evaluation suggests that the new planner provides state-of-the-art results on problems where external deadlines play a significant role.

IROS Conference 2020 Conference Paper

Anytime Kinodynamic Motion Planning using Region-Guided Search

  • Matthew G. Westbrook
  • Wheeler Ruml

Many kinodynamic motion planners have been developed that guarantee probabilistic completeness and asymptotic optimality for systems for which steering functions are available. Recently, some planners have been developed that achieve these properties of completeness and optimality without requiring a steering function. However, these planners have not taken strong advantage of heuristic guidance to speed their search. This paper introduces Region Informed Optimal Trees (RIOT), a sampling-based, asymptotically optimal motion planner for systems without steering functions. RIOT's search is guided by a low-dimensional abstraction of the state space that is updated during planning for better guidance. Simulation results suggest RIOT is adaptable, scalable, and more effective on difficult problems than previous work.

AAAI Conference 2020 Conference Paper

Beliefs We Can Believe in: Replacing Assumptions with Data in Real-Time Search

  • Maximilian Fickert
  • Tianyi Gu
  • Leonhard Staut
  • Wheeler Ruml
  • Joerg Hoffmann
  • Marek Petrik

Suboptimal heuristic search algorithms can benefit from reasoning about heuristic error, especially in a real-time setting where there is not enough time to search all the way to a goal. However, current reasoning methods implicitly or explicitly incorporate assumptions about the cost-to-go function. We consider a recent real-time search algorithm, called Nancy, that manipulates explicit beliefs about the cost-togo. The original presentation of Nancy assumed that these beliefs are Gaussian, with parameters following a certain form. In this paper, we explore how to replace these assumptions with actual data. We develop a data-driven variant of Nancy, DDNancy, that bases its beliefs on heuristic performance statistics from the same domain. We extend Nancy and DDNancy with the notion of persistence and prove their completeness. Experimental results show that DDNancy can perform well in domains in which the original assumption-based Nancy performs poorly.

AAAI Conference 2020 Conference Paper

Envelope-Based Approaches to Real-Time Heuristic Search

  • Kevin Gall
  • Bence Cserna
  • Wheeler Ruml

In real-time heuristic search, the planner must return the next action for the agent within a pre-specified time bound. Many algorithms for this setting are ‘agent-centered’ in that, at every iteration, they only expand states near the agent’s current state, discarding the search frontier afterwards. In this paper, we investigate the alternative paradigm in which the search expands a single ever-growing envelope of states. Previous work on envelope-based methods restricts the agent to move along the generated search tree. We propose a more flexible approach in which an auxiliary search is performed within the envelope to guide the agent toward a promising frontier node. Experimental results indicate that intra-envelope search is beneficial in state spaces that are highly interconnected, such as those for grid pathfinding.

PRL Workshop 2020 Workshop Paper

Real-time Planning as Data-driven Decision-making

  • Maximilian Fickert
  • Tianyi Gu
  • Leonhard Staut
  • Sai Lekyang
  • Wheeler Ruml
  • Joerg Hoffmann
  • Marek Petrik

If reinforcement learning (RL) is the use of incrementally gathered data to drive decision-making, then any heuristic search strategy is fundamentally an RL process. This is perhaps clearest in real-time planning, where an agent must select the next action to take within a fixed time bound. Even in deterministic domains, real-time action selection inherently suffers from uncertainty about those portions of the state space that have not yet been computed by the lookahead search. In this paper, we present new results in a line of research that explores how an agent can benefit from metareasoning about this uncertainty. Taking inspiration from prior work in distributional methods from RL, the Nancy search framework represents its uncertainty explicitly as beliefs over cost-to-go. Nancy then expands nodes so as to minimize the expected regret in case a non-optimal action is chosen. We present detailed results showing how beliefs can be informed by prior experience and we experimentally compare Nancy against both conventional real-time search algorithms like LSS-LRTA* and approaches from RL that exploit uncertainty, such as Monte Carlo tree search and Kaelbling’s interval estimation. We find that Nancy generally outperforms previous methods, particularly on more difficult problems. This work illustrates how the distributional perspective from Bayesian RL can be adapted to deterministic planning settings, and how deterministic planning can provide useful testbeds for methods that metareason about uncertainty during planning.

IJCAI Conference 2020 Conference Paper

Trading Plan Cost for Timeliness in Situated Temporal Planning

  • Shahaf Shperberg
  • Andrew Coles
  • Erez Karpas
  • Eyal Shimony
  • Wheeler Ruml

If a planning agent is considering taking a bus, for example, the time that passes during its planning can affect the feasibility of its plans, as the bus may depart before the agent has found a complete plan. Previous work on this situated temporal planning setting proposed an abstract deliberation scheduling scheme for maximizing the probability of finding a plan that is still feasible at the time it is found. In this paper, we extend the deliberation scheduling approach to address problems in which plans can differ in their cost. Like the planning deadlines, these costs can be uncertain until a complete plan has been found. We show that finding a deliberation policy that minimizes expected cost is PSPACE-hard and that even for known costs and deadlines the optimal solution is a contingent, rather than sequential, schedule. We then analyze special cases of the problem and use these results to propose a greedy scheme that considers both the uncertain deadlines and costs. Our empirical evaluation shows that the greedy scheme performs well in practice on a variety of problems, including some generated from planner search trees.

AAAI Conference 2019 Conference Paper

Allocating Planning Effort When Actions Expire

  • Shahaf S. Shperberg
  • Andrew Coles
  • Bence Cserna
  • Erez Karpas
  • Wheeler Ruml
  • Solomon E. Shimony

Making plans that depend on external events can be tricky. For example, an agent considering a partial plan that involves taking a bus must recognize that this partial plan is only viable if completed and selected for execution in time for the agent to arrive at the bus stop. This setting raises the thorny problem of allocating the agent’s planning effort across multiple open search nodes, each of which has an expiration time and an expected completion effort in addition to the usual estimated plan cost. This paper formalizes this metareasoning problem, studies its theoretical properties, and presents several algorithms for solving it. Our theoretical results include a surprising connection to job scheduling, as well as to deliberation scheduling in time-dependent planning. Our empirical results indicate that our algorithms are effective in practice. This work advances our understanding of how heuristic search planners might address realistic problem settings.

SoCS Conference 2019 Conference Paper

Improved Safe Real-Time Heuristic Search

  • Bence Cserna
  • Kevin C. Gall
  • Wheeler Ruml

A fundamental concern in real-time planning is the presence of dead ends in the state space, from which no goal is reachable. Recently, the SafeRTS algorithm was proposed for searching in such spaces. SafeRTS exploits a user-provided predicate to identify safe states, from which a goal is likely reachable, and attempts to maintain a backup plan for reaching such a state at all times. In this paper, we study the SafeRTS approach, identify certain properties of its behavior, and design an improved framework for safe real-time search. We prove that the new approach performs at least as well as SafeRTS and present experimental results showing that its promise is fulfilled in practice.

SoCS Conference 2019 Conference Paper

Real-Time Heuristic Search in Dynamic Environments

  • Chao Chi Cheng
  • Wheeler Ruml

In dynamic environments, agents often do not have time to find a complete plan to reach a goal state, but rather must act quickly under changing circumstances. Real-time heuristic search models this setting by requiring that the agent

AAAI Conference 2019 Conference Paper

Real-Time Planning as Decision-Making under Uncertainty

  • Andrew Mitchell
  • Wheeler Ruml
  • Fabian Spaniol
  • Jorg Hoffmann
  • Marek Petrik

In real-time planning, an agent must select the next action to take within a fixed time bound. Many popular real-time heuristic search methods approach this by expanding nodes using time-limited A* and selecting the action leading toward the frontier node with the lowest f value. In this paper, we reconsider real-time planning as a problem of decision-making under uncertainty. We propose treating heuristic values as uncertain evidence and we explore several backup methods for aggregating this evidence. We then propose a novel lookahead strategy that expands nodes to minimize risk, the expected regret in case a non-optimal action is chosen. We evaluate these methods in a simple synthetic benchmark and the sliding tile puzzle and find that they outperform previous methods. This work illustrates how uncertainty can arise even when solving deterministic planning problems, due to the inherent ignorance of time-limited search algorithms about those portions of the state space that they have not computed, and how an agent can benefit from explicitly metareasoning about this uncertainty.

AAAI Conference 2019 Conference Paper

Refining Abstraction Heuristics during Real-Time Planning

  • Rebecca Eifler
  • Maximilian Fickert
  • Jörg Hoffmann
  • Wheeler Ruml

In real-time planning, the planner must select the next action within a fixed time bound. Because a complete plan may not have been found, the selected action might not lead to a goal and the agent may need to return to its current state. To preserve completeness, real-time search methods incorporate learning, in which heuristic values are updated. Previous work in real-time search has used table-based heuristics, in which the values of states are updated individually. In this paper, we explore the use of abstraction-based heuristics. By refining the abstraction on-line, we can update the values of multiple states, including ones the agent has not yet generated. We test this idea empirically using Cartesian abstractions in the Fast Downward planner. Results on various benchmarks, including the sliding tile puzzle and several IPC domains, indicate that the approach can improve performance compared to traditional heuristic updating. This work brings abstraction refinement, a powerful technique from offline planning, into the real-time setting.

ICAPS Conference 2019 Conference Paper

Replanning for Situated Robots

  • Michael Cashmore
  • Andrew Coles
  • Bence Cserna
  • Erez Karpas
  • Daniele Magazzeni
  • Wheeler Ruml

Planning enables intelligent agents, such as robots, to act so as to achieve their long term goals. To make the planning process tractable, a relatively low fidelity model of the world is often used, which sometimes leads to the need to replan. The typical view of replanning is that the robot is given the current state, the goal, and possibly some data from the previous planning process. However, for robots (or teams of robots) that exist in continuous physical space, act concurrently, have deadlines, or must otherwise consider durative actions, things are not so simple. In this paper, we address the problem of replanning for situated robots. Relying on previous work on situated temporal planning, we frame the replanning problem as a situated temporal planning problem, where currently executing actions are handled via Timed Initial Literals (TILs), under the assumption that actions cannot be interrupted. We then relax this assumption, and address situated replanning with interruptible actions. We bridge the gap between the low-level model of the robot and the high-level model used for planning by the novel notion of a bail out action generator, which relies on the low-level model to generate highlevel actions that describe possible ways to interrupt currently executing actions. Because actions can be interrupted at different times during their execution, we also propose a novel algorithm to handle temporal planning with time-dependent durations.

SoCS Conference 2019 Conference Paper

Revisiting Suboptimal Search

  • Jingwei Chen
  • Nathan R. Sturtevant
  • William J. Doyle
  • Wheeler Ruml

Suboptimal search algorithms can often solve much larger problems than optimal search algorithms, and thus have broad practical use. This paper returns to early algorithms like WA*, A*_e and Optimistic search. It studies the commonalities between these approaches in order to build a new bounded-suboptimal algorithm. Combined with recent research on avoiding node re-expansions in bounded-optimal search, a new solution quality bound is developed, which often provides proof of the solution bound much earlier during the search. Put together, these ideas provide a new state-of-the-art in bounded-optimal search.

AAAI Conference 2018 Conference Paper

Avoiding Dead Ends in Real-Time Heuristic Search

  • Bence Cserna
  • William Doyle
  • Jordan Ramsdell
  • Wheeler Ruml

Many systems, such as mobile robots, need to be controlled in real time. Real-time heuristic search is a popular on-line planning paradigm that supports concurrent planning and execution. However, existing methods do not incorporate a notion of safety and we show that they can perform poorly in domains that contain dead-end states from which a goal cannot be reached. We introduce new real-time heuristic search methods that can guarantee safety if the domain obeys certain properties. We test these new methods on two different simulated domains that contain dead ends, one that obeys the properties and one that does not. We find that empirically the new methods provide good performance. We hope this work encourages further efforts to widen the applicability of realtime planning.

SoCS Conference 2018 Conference Paper

Does Fast Beat Thorough? Comparing RTAA* and LSS-LRTA

  • Shane Kochvi
  • Wheeler Ruml

The RTAA* algorithm has been proposed as an alternative to the LSS-LRTA* algorithm for heuristic search under hard time constraints. It uses a cruder but faster learning procedure. Experimental results on pathfinding in mazes in the unknown terrain setting indicated that RTAA* was superior to LSS-LRTA*. In this paper, we attempt to replicate those results and we extend the analysis to additional domains. Our results suggest that RTAA* is superior to LSS-LRTA* only in situations where the heuristic is already relatively accurate, either inherently or because of large lookahead. Overall, neither algorithm seems superior to the other.

JAIR Journal 2018 Journal Article

Solving Large Problems with Heuristic Search: General-Purpose Parallel External-Memory Search

  • Matthew Hatem
  • Ethan Burns
  • Wheeler Ruml

Classic best-first heuristic search algorithms, like A*, record every unique state they encounter in RAM, making them infeasible for solving large problems. In this paper, we demonstrate how best-first search can be scaled to solve much larger problems by exploiting disk storage and parallel processing and, in some cases, slightly relaxing the strict best-first node expansion order. Some previous disk-based search algorithms abandon best-first search order in an attempt to increase efficiency. We present two case studies showing that A*, when augmented with Delayed Duplicate Detection, can actually be more efficient than these non-best-first search orders. First, we present a straightforward external variant of A*, called PEDAL, that slightly relaxes best-first order in order to be I/O efficient in both theory and practice, even on problems featuring real-valued node costs. Because it is easy to parallelize, PEDAL can be faster than in-memory IDA* even on domains with few duplicate states, such as the sliding-tile puzzle. Second, we present a variant of PEDAL, called PE2A*, that uses partial expansion to handle problems that have large branching factors. When tested on the problem of Multiple Sequence Alignment, PE2A* is the first algorithm capable of solving the entire Reference Set 1 of the standard BAliBASE benchmark using a biologically accurate cost function. This work shows that classic best-first algorithms like A* can be applied to large real-world problems. We also provide a detailed implementation guide with source code both for generic parallel disk-based best-first search and for Multiple Sequence Alignment with a biologically accurate cost function. Given its effectiveness as a general-purpose problem-solving method, we hope that this makes parallel and disk-based search accessible to a wider audience.

ICAPS Conference 2018 Conference Paper

Temporal Planning while the Clock Ticks

  • Michael Cashmore
  • Andrew Coles
  • Bence Cserna
  • Erez Karpas
  • Daniele Magazzeni
  • Wheeler Ruml

One of the original motivations for domain-independent planning was to generate plans that would then be executed in the environment. However, most existing planners ignore the passage of time during planning. While this can work well when absolute time does not play a role, this approach can lead to plans failing when there are external timing constraints, such as deadlines. In this paper, we describe a new approach for time-sensitive temporal planning. Our planner is aware of the fact that plan execution will start only once planning finishes, and incorporates this information into its decision making, in order to focus the search on branches that are more likely to lead to plans that will be feasible when the planner finishes.

IROS Conference 2017 Conference Paper

An effort bias for sampling-based motion planning

  • Scott Kiesel
  • Tianyi Gu 0001
  • Wheeler Ruml

Recent advances in sampling-based motion planning have exploited concepts similar to those used in the heuristic graph search community, such as computing heuristic cost-to-go estimates and using state-space abstractions to derive them. Following this trend, we explore how the concept of search effort can be exploited to find plans quickly. Most previous work in motion planning attempts to find plans quickly by preferring states with low cost-to-go. Recent work in graph search suggests that following search effort-to-go estimates can yield faster planning. In this paper, we demonstrate how this idea can be adapted to the context of kinodynamic motion planning. Our planner, BEAST, uses estimates of effort that are learned on-line to guide the expansion of a motion tree toward states through which a plan is estimated to be easy to find. We present results with four different simulated vehicles (car, hovercraft, blimp and quadrotor) in six different environments indicating that BEAST is able to find solutions much more quickly and has a higher success rate than previous methods. We see this work as further strengthening the algorithmic connections between motion planning and heuristic graph search.

ICAPS Conference 2017 Conference Paper

Planning Time to Think: Metareasoning for On-Line Planning with Durative Actions

  • Bence Cserna
  • Wheeler Ruml
  • Jeremy Frank

When minimizing makespan during off-line planning, the fastest action sequence to reach a particular state is, by definition, preferred. When trying to reach a goal quickly in on-line planning, previous work has inherited that assumption: the faster of two paths that both reach the same state is usually considered to dominate the slower one. In this short paper, we point out that, when planning happens concurrently with execution, selecting a slower action can allow additional time for planning, leading to better plans. We present Slo'RTS, a metareasoning planning algorithm that estimates whether the expected improvement in future decision-making from this increased planning time is enough to make up for the increased duration of the selected action. Using simple benchmarks, we show that Slo'RTS can yield shorter time-to-goal than a conventional planner. This generalizes previous work on metareasoning in on-line planning and highlights the inherent uncertainty present in an on-line setting.

UAI Conference 2017 Conference Paper

Value Directed Exploration in Multi-Armed Bandits with Structured Priors

  • Bence Cserna
  • Marek Petrik
  • Reazul Hasan Russel
  • Wheeler Ruml

Multi-armed bandits are a quintessential machine learning problem requiring balancing exploration with exploitation. While there has been progress in developing algorithms with strong theoretical guarantees, there has been less focus on practical near-optimal finite-time performance. In this paper, we propose an algorithm for Bayesian multi-armed bandits that utilizes approximate value functions. Building on previous work on UCB and Gittins index, we introduce linearly-separable value functions that capture the benefit of exploration when choosing the next arm to pull. Our algorithm enjoys a sub-linear performance guarantee and our simulation results confirm its strength in problems with structured priors. The simplicity and generality of our approach makes it a strong candidate for use in more complex multi-armed bandit problems.

SoCS Conference 2016 Conference Paper

Anytime versus Real-Time Heuristic Search for On-Line Planning

  • Bence Cserna
  • Mike Bogochow
  • Stephen Chambers
  • Michaela Tremblay
  • Sammie Katt
  • Wheeler Ruml

Many AI systems, such as robots, must plan under time constraints. The most popular search approach applied in robotics so far is anytime search, in which the algorithm quickly finds a suboptimal plan, and then continues to find better and better plans as time passes, until eventually converging on an optimal plan. However, the time until the first plan is returned is not controllable, so such methods inherently involve idling the system

JAIR Journal 2016 Journal Article

Effective Heuristics for Suboptimal Best-First Search

  • Christopher Wilt
  • Wheeler Ruml

Suboptimal heuristic search algorithms such as weighted A* and greedy best-first search are widely used to solve problems for which guaranteed optimal solutions are too expensive to obtain. These algorithms crucially rely on a heuristic function to guide their search. However, most research on building heuristics addresses optimal solving. In this paper, we illustrate how established wisdom for constructing heuristics for optimal search can fail when considering suboptimal search. We consider the behavior of greedy best-first search in detail and we test several hypotheses for predicting when a heuristic will be effective for it. Our results suggest that a predictive characteristic is a heuristic's goal distance rank correlation (GDRC), a robust measure of whether it orders nodes according to distance to a goal. We demonstrate that GDRC can be used to automatically construct abstraction-based heuristics for greedy best-first search that are more effective than those built by methods oriented toward optimal search. These results reinforce the point that suboptimal search deserves sustained attention and specialized methods of its own.

JAIR Journal 2015 Journal Article

Achieving Goals Quickly Using Real-time Search: Experimental Results in Video Games

  • Scott Kiesel
  • Ethan Burns
  • Wheeler Ruml

In real-time domains such as video games, planning happens concurrently with execution and the planning algorithm has a strictly bounded amount of time before it must return the next action for the agent to execute. We explore the use of real-time heuristic search in two benchmark domains inspired by video games. Unlike classic benchmarks such as grid pathfinding and the sliding tile puzzle, these new domains feature exogenous change and directed state space graphs. We consider the setting in which planning and acting are concurrent and we use the natural objective of minimizing goal achievement time. Using both the classic benchmarks and the new domains, we investigate several enhancements to a leading real-time search algorithm, LSS-LRTA*. We show experimentally that 1) it is better to plan after each action or to use a dynamically sized lookahead, 2) A*-based lookahead can cause undesirable actions to be selected, and 3) on-line de-biasing of the heuristic can lead to improved performance. We hope this work encourages future research on applying real-time search in dynamic domains.

SoCS Conference 2015 Conference Paper

Building a Heuristic for Greedy Search

  • Christopher Makoto Wilt
  • Wheeler Ruml

Suboptimal heuristic search algorithms such as greedy best-first search allow us to find solutions when constraints of either time, memory, or both prevent the application of optimal algorithms such as A*. Guidelines for building an effective heuristic for A* are well established in the literature, but we show that if those rules are applied for greedy best-first search, performance can actually degrade. Observing what went wrong for greedy best-first search leads us to a quantitative metric appropriate for greedy heuristics, called Goal Distance Rank Correlation (GDRC). We demonstrate that GDRC can be used to build effective heuristics for greedy best-first search automatically.

IJCAI Conference 2015 Conference Paper

Max Is More than Min: Solving Maximization Problems with Heuristic Search

  • Roni Stern
  • Scott Kiesel
  • Rami Puzis
  • Ariel Felner
  • Wheeler Ruml

Most work in heuristic search considers problems where a low cost solution is preferred (MIN problems). In this paper, we investigate the complementary setting where a solution of high reward is preferred (MAX problems). Example MAX problems include finding a longest simple path in a graph, maximal coverage, and various constraint optimization problems. We examine several popular search algorithms for MIN problems and discover the curious ways in which they misbehave on MAX problems. We propose modifications that preserve the original intentions behind the algorithms but allow them to solve MAX problems, and compare them theoretically and empirically. Interesting results include the failure of bidirectional search and close relationships between Dijkstra’s algorithm, weighted A*, and depth-first search.

SoCS Conference 2015 Conference Paper

Metareasoning in Real-Time Heuristic Search

  • Dylan O'Ceallaigh
  • Wheeler Ruml

Real-time heuristic search addresses the setting in which planning andacting can proceed concurrently. We explore the use of metareasoning at two decision points within a real-time heuristic search. First, if the domain has an `identity action

AAAI Conference 2015 Conference Paper

Recursive Best-First Search with Bounded Overhead

  • Matthew Hatem
  • Scott Kiesel
  • Wheeler Ruml

There are two major paradigms for linear-space heuristic search: iterative deepening (IDA*) and recursive best-first search (RBFS). While the node regeneration overhead of IDA* is easily characterized in terms of the heuristic branching factor, the overhead of RBFS depends on how widely the promising nodes are separated in the search tree, and is harder to anticipate. In this paper, we present two simple techniques for improving the performance of RBFS while maintaining its advantages over IDA*. While these techniques work well in practice, they do not provide any theoretical bounds on the amount of regeneration overhead. To this end, we introduce RBFSCR, the first method for provably bounding the regeneration overhead of RBFS. We show empirically that this improves its performance in several domains, both for optimal and suboptimal search, and also yields a better linear-space anytime heuristic search. RBFSCR is the first linear space best-first search robust enough to solve a variety of domains with varying operator costs.

SoCS Conference 2015 Conference Paper

Solving the Snake in the Box Problem with Heuristic Search: First Results

  • Alon Palombo
  • Roni Stern
  • Rami Puzis
  • Ariel Felner
  • Scott Kiesel
  • Wheeler Ruml

Snake in the Box (SIB) is the problem of finding the longest simple path along the edges of an n-dimensional cube, subject to certain constraints. SIB has important applications in coding theory and communications. State of the art algorithms for solving SIB apply uninformed search with symmetry breaking techniques. We formalize this problem as a search problem and propose several admissible heuristics to solve it. Using the proposed heuristics is shown to have a huge impact on the number of nodes expanded and, in some configurations, on runtime. These results encourage further research in using heuristic search to solve SIB, and to solve maximization problems more generally.

IJCAI Conference 2015 Conference Paper

Speedy versus Greedy Search

  • Christopher Makoto Wilt
  • Wheeler Ruml

When an optimal solution is not required, satisficing search methods such as greedy best-first search are often used to find solutions quickly. In work on satisficing search, there has been substantial attention devoted to how to solve problems associated with local minima or plateaus in the heuristic function. One technique that has been shown to be quite promising is using an alternative heuristic function that does not estimate cost-to-go, but rather estimates distance-to-go. There is currently little beyond intuition to explain its superiority. We begin by empirically showing that the success of the distance-to-go heuristic appears related to its having smaller local minima. We then discuss a reasonable theoretical model of heuristics and show that, under this model, the expected size of local minima is higher for a cost-to-go heuristic than a distance-to-go heuristic, offering a possible explanation as to why distance-to-go heuristics tend to outperform cost-to-go heuristics.

SoCS Conference 2014 Conference Paper

Bounded Suboptimal Search in Linear Space: New Results

  • Matthew Hatem
  • Wheeler Ruml

Bounded suboptimal search algorithms are usually faster than optimal ones, but they can still run out of memory on large problems. This paper makes three contributions. First, we show how solution length estimates, used by the current state-of-the-art linear-space bounded suboptimal search algorithm Iterative Deepening EES, can be used to improve unbounded-space suboptimal search. Second, we convert one of these improved algorithms into a linear-space variant called Iterative Deepening A* epsilon, resulting in a new state of the art in linear-space bounded suboptimal search. Third, we show how Recursive Best-First Search can be used to create additional linear-space variants that have more stable performance. Taken together, these results significantly expand our armamentarium of bounded suboptimal search algorithms.

SoCS Conference 2014 Conference Paper

Max is More than Min: Solving Maximization Problems with Heuristic Search

  • Roni Stern
  • Scott Kiesel
  • Rami Puzis
  • Ariel Felner
  • Wheeler Ruml

Most work in heuristic search considers problems where a low cost solution is preferred (MIN problems). In this paper, we investigate the complementary setting where a solution of high reward is preferred (MAX problems). Example MAX problems include finding the longest simple path in a graph, maximal coverage, and various constraint optimization problems. We examine several popular search algorithms for MIN problems — optimal, suboptimal, and bounded suboptimal - and discover the curious ways in which they misbehave on MAX problems. We propose modifications that preserve the original intentions behind the algorithms but allow them to solve MAX problems, and compare them theoretically and empirically. Interesting results include the failure of bidirectional search and a discovered close relationships between Dijkstra

AAAI Conference 2014 Conference Paper

Simpler Bounded Suboptimal Search

  • Matthew Hatem
  • Wheeler Ruml

It is commonly appreciated that solving search problems optimally can take too long. Bounded suboptimal search algorithms trade increased solution cost in a principled way for reduced solving time. Explicit Estimation Search (EES) is a recent state-of-the-art algorithm for bounded suboptimal search. Although it tends to expand fewer nodes than alternative algorithms, its per-node expansion overhead is much higher, causing it to sometimes take longer. In this paper, we present simplified variants of EES (SEES) and an earlier algorithm, A∗ (SA∗ ), that use different implementations of the same motivating ideas to significantly reduce search overhead and implementation complexity. In an empirical evaluation, we find that SEES matches or outperforms classic bounded suboptimal search algorithms, such as WA∗, on all domains tested. We also confirm that, while SEES and SA∗ expand roughly the same number of nodes as their progenitors, they solve problems significantly faster and are much easier to implement. This work widens the applicability of state-ofthe-art bounded suboptimal search by making it easier to deploy.

SoCS Conference 2014 Conference Paper

Speedy Versus Greedy Search

  • Christopher Makoto Wilt
  • Wheeler Ruml

In work on satisficing search, there has been substantial attention devoted to how to solve problems associated with local minima or plateaus in the heuristic function. One technique that has been shown to be quite promising is using an alternative heuristic function that does not estimate cost-to-go, but rather estimates distance-to-go. Empirical results generally favor using the distance-to-go heuristic over the cost-to-go heuristic, but there is currently little beyond intuition to explain the difference. We begin by empirically showing that the success of the distance-to-go heuristic appears related to its having smaller local minima. We then discuss a reasonable theoretical model of heuristics and show that, under this model, the expected size of local minima is higher for a cost- to-go heuristic than a distance-to-go heuristic, offering a possible explanation as to why distance-to-go heuristics tend to outperform cost-to-go heuristics.

SoCS Conference 2013 Conference Paper

Bounded Suboptimal Heuristic Search in Linear Space

  • Matthew Hatem
  • Roni Stern
  • Wheeler Ruml

It is commonly appreciated that solving search problems optimally can overrun time and memory constraints. Bounded suboptimal search algorithms trade increased solution cost for reduced solving time and memory consumption. However, even suboptimal search can overrun memory on large problems. The conventional approach to this problem is to combine a weighted admissible heuristic with an optimal linear space algorithm, resulting in algorithms such as Weighted IDA* (wIDA*). However, wIDA* does not exploit distance-to-go estimates or inadmissible heuristics, which have recently been shown to be helpful for suboptimal search. In this paper, we present a linear space analogue of Explicit Estimation Search (EES), a recent algorithm specifically designed for bounded suboptimal search. We call our method Iterative Deepening EES (IDEES). In an empirical evaluation, we show that IDEES dramatically outperforms wIDA* on domains with non-uniform edge costs and can scale to problems that are out of reach for the original EES.

SoCS Conference 2013 Conference Paper

Experimental Real-Time Heuristic Search Results in a Video Game

  • Ethan Burns
  • Scott Kiesel
  • Wheeler Ruml

In real-time domains such as video games, a planning algo- rithm has a strictly bounded time before it must return the next action for the agent to execute. We introduce a realistic video game benchmark domain that is useful for evaluating real-time heuristic search algorithms. Unlike previous bench- marks such as grid pathfinding and the sliding tile puzzle, this new domain includes dynamics and induces a directed graph. Using both the previous and new domains, we investigate sev- eral enhancements to a leading real-time search algorithm, LSS-LRTA*. We show experimentally that 1) it is not dif- ficult to outperform A* when optimizing goal achievement time, 2) it is better to plan after each action than to commit to multiple actions or to use a dynamically sized lookahead, 3) A*-based lookahead can cause undesirable actions to be selected, and 4) on-line de-biasing of the heuristic can lead to improved performance. We hope that this new domain and results will stimulate further research on applying real-time search to dynamic real-time domains.

AAAI Conference 2013 Conference Paper

External Memory Best-First Search for Multiple Sequence Alignment

  • Matthew Hatem
  • Wheeler Ruml

Multiple sequence alignment (MSA) is a central problem in computational biology. It is well known that MSA can be formulated as a shortest path problem and solved using heuristic search, but the memory requirement of A* makes it impractical for all but the smallest problems. Partial Expansion A* (PEA*) reduces the memory requirement of A* by generating only the most promising successor nodes. However, even PEA* exhausts available memory on many problems. Another alternative is Iterative Deepening Dynamic Programming, which uses an uninformed search order but stores only the nodes along the search frontier. However, it too cannot scale to the largest problems. In this paper, we propose storing nodes on cheap and plentiful secondary storage. We present a new general-purpose algorithm, Parallel External PEA* (PE2A*), that combines PEA* with Delayed Duplicate Detection to take advantage of external memory and multiple processors to solve large MSA problems. In our experiments, PE2A* is the first algorithm capable of solving the entire Reference Set 1 of the standard BAliBASE benchmark using a biologically accurate cost function. This work suggests that external best-first search can effectively use heuristic information to surpass methods that rely on uninformed search orders.

AAAI Conference 2013 Conference Paper

Robust Bidirectional Search via Heuristic Improvement

  • Christopher Wilt
  • Wheeler Ruml

Although the heuristic search algorithm A* is well-known to be optimally efficient, this result explicitly assumes forward search. Bidirectional search has long held promise for surpassing A*’s efficiency, and many varieties have been proposed, but it has proven difficult to achieve robust performance across multiple domains in practice. We introduce a simple bidirectional search technique called Incremental KKAdd that judiciously performs backward search to improve the accuracy of the forward heuristic function for any search algorithm. We integrate this technique with A*, assess its theoretical properties, and empirically evaluate its performance across seven benchmark domains. In the best case, it yields a factor of six reduction in node expansions and CPU time compared to A*, and in the worst case, its overhead is provably bounded by a user-supplied parameter, such as 1%. Viewing performance across all domains, it also surpasses previously proposed bidirectional search algorithms. These results indicate that Incremental KKAdd is a robust way to leverage bidirectional search in practice.

SoCS Conference 2012 Conference Paper

Abstraction-Guided Sampling for Motion Planning

  • Scott Kiesel
  • Ethan Burns
  • Wheeler Ruml

Motion planning in continuous space is a fundamentalrobotics problem that has been approached from many per-spectives. Rapidly-exploring Random Trees (RRTs) usesampling to efficiently traverse the continuous and high-dimensional state space. Heuristic graph search methods uselower bounds on solution cost to focus effort on portions ofthe space that are likely to be traversed by low-cost solutions. In this work, we bring these two ideas together in a tech-nique called f -biasing: we use estimates of solution cost, computed as in heuristic search, to guide sparse sampling, as in RRTs. We see this new technique as strengthening theconnections between motion planning in robotics and combi-natorial search in artificial intelligence.

ICAPS Conference 2012 Conference Paper

Anticipatory On-Line Planning

  • Ethan Burns
  • J. Benton 0001
  • Wheeler Ruml
  • Sung Wook Yoon
  • Minh Binh Do

We consider the problem of on-line continual planning, in whichadditional goals may arrive while plans for previous goals are stillexecuting and plan quality depends on how quickly goals are achieved. This is a challenging problem even in domains with deterministicactions. One common and straightforward approach is reactive planning, in which plans are synthesized when a new goal arrives. In this paper, we adapt the technique of hindsight optimization from on-line schedulingand probabilistic planning to create an anticipatory on-line planningalgorithm. Using an estimate of the goal arrival distribution, wesample possible futures and use a deterministic planner to estimate thevalue of taking possible actions at each time step. Results in twobenchmark domains based on unmanned aerial vehicle planning andmanufacturing suggest that an anticipatory approach yields a superiorplanner that is sensitive not only to which action should be executed, but when.

ICAPS Conference 2012 Conference Paper

Faster Bounded-Cost Search Using Inadmissible Estimates

  • Jordan Tyler Thayer
  • Roni Stern
  • Ariel Felner
  • Wheeler Ruml

Many important problems are too difficult to solve optimally. A traditional approach to such problems is bounded suboptimal search, which guarantees solution costs within a user-specified factor of optimal. Recently, a complementary approach has been proposed: bounded-cost search, where solution cost is required to be below a user-specified absolute bound. In this paper, we show how bounded-cost search can incorporate inadmissible estimates of solution cost and solution length. This information has previously been shown to improve bounded suboptimal search and, in an empirical evaluation over five benchmark domains, we find that our new algorithms surpass the state-of-the-art in bounded-cost search as well, particularly for domains where action costs differ.

AAAI Conference 2012 Conference Paper

Heuristic Search Comes of Age

  • Nathan Sturtevant
  • Ariel Felner
  • Maxim Likhachev
  • Wheeler Ruml

In looking back on the last five to ten years of work in heuristic search a few trends emerge. First, there has been a broadening of research topics studied. Second, there has been a deepened understanding of the theoretical foundations of search. Third, and finally, there have been increased connections with work in other fields. This paper, corresponding to a AAAI 2012 invited talk on recent work in heuristic search, highlights these trends in a number of areas of heuristic search. It is our opinion that the sum of these trends reflects the growth in the field and the fact that heuristic search has come of age.

SoCS Conference 2012 Conference Paper

Implementing Fast Heuristic Search Code

  • Ethan Burns
  • Matthew Hatem
  • Michael J. Leighton
  • Wheeler Ruml

Published papers rarely disclose implementation details. In this paper we show how such details can account for speedups of up to a factor of 28 for different implementations of the same algorithm. We perform an in-depth analysis of the most popular benchmark in heuristic search: the 15-puzzle. We study implementation choices in C++ for both IDA* and A* using the Manhattan distance heuristic. Results suggest that several optimizations deemed critical in folklore provide only small improvements while seemingly innocuous choices can play a large role. These results are important for ensuring that the correct conclusions are drawn from empirical comparisons

ICAPS Conference 2012 Conference Paper

Integrating Vehicle Routing and Motion Planning

  • Scott Kiesel
  • Ethan Burns
  • Christopher Makoto Wilt
  • Wheeler Ruml

There has been much interest recently in problems that com-bine high-level task planning with low-level motion planning. In this paper, we present a problem of this kind that arises inmulti-vehicle mission planning. It tightly integrates task al-location and scheduling, who will do what when, with pathplanning, how each task will actually be performed. It ex-tends classical vehicle routing in that the cost of executing aset of high-level tasks can vary significantly in time and costaccording to the low-level paths selected. It extends classi-cal motion planning in that each path must minimize costwhile also respecting temporal constraints, including thoseimposed by the agent's other tasks and the tasks assigned toother agents. Furthermore, the problem is a subtask withinan interactive system and therefore must operate within se-vere time constraints. We present an approach to the problembased on a combination of tabu search, linear programming, and heuristic search. We evaluate our planner on represen-tative problem instances and find that its performance meetsthe demanding requirements of our application. These resultsdemonstrate how integrating multiple diverse techniques cansuccessfully solve challenging real-world planning problemsthat are beyond the reach of any single method.

SoCS Conference 2012 Conference Paper

Real-Time Motion Planning with Dynamic Obstacles

  • Jarad Cannon
  • Kevin Rose
  • Wheeler Ruml

Robust robot motion planning in dynamic environments requires that actions be selected under real-time constraints. Existing heuristic search methods that can plan high-speed motions do not guarantee real-time performance in dynamic environments. Existing heuristic search methods for real-time planning in dynamic environments fail in the high-dimensional state space required to plan high-speed actions. In this paper, we present extensions to a leading planner for high-dimensional spaces, R*, that allow it to guarantee real-time performance, and extensions to a leading real-time planner, LSS-LRTA*, that allow it to succeed in dynamic motion planning. In an extensive empirical comparison, we show that the new methods are superior to the originals, providing new state-of-the-art search performance on this challenging problem.

SoCS Conference 2012 Conference Paper

When Does Weighted A* Fail?

  • Christopher Makoto Wilt
  • Wheeler Ruml

Weighted A* is the most popular satisficing algorithm for heuristic search. Although there is no formal guarantee that increasing the weight on the heuristic cost-to-go estimate will decrease search time, it is commonly assumed that increas- ing the weight leads to faster searches, and that greedy search will provide the fastest search of all. As we show, however, in some domains, increasing the weight slows down the search. This has an important consequence on the scaling behavior of Weighted A*: increasing the weight ad infinitum will only speed up the search if greedy search is effective. We examine several plausible hypotheses as to why greedy search would sometimes expand more nodes than A* and show that each of the simple explanations has flaws. Our contribution is to show that greedy search is fast if and only if there is a strong correlation between h(n) and d∗(n), the true distance-to-go, or if the heuristic is extremely accurate.

SoCS Conference 2011 Conference Paper

Best-First Search for Bounded-Depth Trees

  • Kevin Rose
  • Ethan Burns
  • Wheeler Ruml

Tree search is a common technique for solving constraint satisfaction and combinatorial optimization problems. The most popular strategies are depth-first search and limited discrepancy search. Aside from pruning or ordering the children of each node, these algorithms do not adapt their search order to take advantage of information that becomes available during search, such as heuristic scores or leaf costs. We present a framework called best-leaf-first search (BLFS) that uses this additional information to estimate the cost of taking discrepancies in the search tree and then attempts to visit leaves in a best-first order. In this way, BLFS brings the idea of best-first search from shortest path problems to the areas of constraint satisfaction and combinatorial optimization. Empirical results demonstrate that this new dynamic approach results in better search performance than previous static search strategies on two very different domains: structured CSPs and the traveling salesman problem.

IJCAI Conference 2011 Conference Paper

Bounded Suboptimal Search: A Direct Approach Using Inadmissible Estimates

  • Jordan T. Thayer
  • Wheeler Ruml

Bounded suboptimal search algorithms offer shorter solving times bysacrificing optimality and instead guaranteeing solution costs withina desired factor of optimal. Typically these algorithms use a singleadmissible heuristic both for guiding search and bounding solutioncost. In this paper, we present a new approach to bounded suboptimalsearch, Explicit Estimation Search, that separates these roles, consulting potentially inadmissible information to determine searchorder and using admissible information to guarantee the cost bound. Unlike previous proposals, it successfully combines estimates ofsolution length and solution cost to predict which node will lead mostquickly to a solution within the suboptimality bound. An empiricalevaluation across six diverse benchmark domains shows that ExplicitEstimation Search is competitive with the previous state of the art indomains with unit-cost actions and substantially outperformspreviously proposed techniques for domains in which solution cost andlength can differ.

SoCS Conference 2011 Conference Paper

Cost-Based Heuristic Search Is Sensitive to the Ratio of Operator Costs

  • Christopher Makoto Wilt
  • Wheeler Ruml

In many domains, different actions have different costs. In this paper, we show that various kinds of best-first search algorithms are sensitive to the ratio between the lowest and highest operator costs. First, we take common benchmark domains and show that when we increase the ratio of operator costs, the number of node expansions required to find a solution increases. Second, we provide a theoretical analysis showing one reason this phenomenon occurs. We also discuss additional domain features that can cause this increased difficulty. Third, we show that searching using distance-to-go estimates can significantly ameliorate this problem. Our analysis takes an important step toward understanding algorithm performance in the presence of differing costs. This research direction will likely only grow in importance as heuristic search is deployed to solve real-world problems.

SoCS Conference 2011 Conference Paper

Deadline-Aware Search Using On-Line Measures of Behavior

  • Austin J. Dionne
  • Jordan Tyler Thayer
  • Wheeler Ruml

In many applications of heuristic search, insufficient time isavailable to find provably optimal solutions. We consider thecontract search problem: finding the best solution possible within agiven time limit. The conventional approach to this problem is to usean interruptible anytime algorithm. Such algorithms return a sequenceof improving solutions until interuppted and do not consider theapproaching deadline during the course of the search. We propose anew approach, Deadline Aware Search, that explicitly takes the deadlineinto account and attempts to use all available time to find a singlehigh-quality solution. This algorithm is simple and fully general: itmodifies best-first search with on-line pruning. Empirical results onvariants of gridworld navigation, the sliding tile puzzle, and dynamicrobot navigation show that our method can surpass the leading anytimealgorithms across a wide variety of deadlines.

SoCS Conference 2011 Conference Paper

Faster Optimal and Suboptimal Hierarchical Search

  • Michael J. Leighton
  • Wheeler Ruml
  • Robert C. Holte

In problem domains for which an informed admissible heuristic function is not available, one attractive approach is hierarchical search. Hierarchical search uses search in an abstracted version of the problem to dynamically generate heuristic values. This paper makes two contributions to hierarchical search. First, we propose a simple modification to the state-of-the-art algorithm Switchback that reduces the number of expansions (and hence the running time) by approximately half, while maintaining its guarantee of optimality. Second, we propose a new algorithm for suboptimal hierarchical search, called Switch. Empirical results suggest that Switch yields faster search than straightforward modifications of Switchback, such as weighting the heuristic or greedy search. The success of Switch illustrates the potential for further research on specifically suboptimal hierarchical search.

AAAI Conference 2011 Conference Paper

Heuristic Search for Large Problems With Real Costs

  • Matthew Hatem
  • Ethan Burns
  • Wheeler Ruml

The memory requirements of basic best-first heuristic search algorithms like A* make them infeasible for solving large problems. External disk storage is cheap and plentiful compared to the cost of internal RAM. Unfortunately, state-ofthe-art external memory search algorithms either rely on brute-force search techniques, such as breadth-first search, or they rely on all node values falling in a narrow range of integers, and thus perform poorly on real-world domains with real-valued costs. We present a new general-purpose algorithm, PEDAL, that uses external memory and parallelism to perform a best-first heuristic search capable of solving large problems with real costs. We show theoretically that PEDAL is I/O efficient and empirically that it is both better on a standard unit-cost benchmark, surpassing internal IDA* on the 15-puzzle, and gives far superior performance on problems with real costs.

ICAPS Conference 2011 Conference Paper

Learning Inadmissible Heuristics During Search

  • Jordan Tyler Thayer
  • Austin J. Dionne
  • Wheeler Ruml

Suboptimal search algorithms offer shorter solving times by sacrificing guaranteed solution optimality. While optimal searchalgorithms like A* and IDA* require admissible heuristics, suboptimalsearch algorithms need not constrain their guidance in this way. Previous work has explored using off-line training to transform admissible heuristics into more effective inadmissible ones. In this paper we demonstrate that this transformation can be performed on-line, during search. In addition to not requiring training instances and extensive pre-computation, an on-line approach allows the learned heuristic to be tailored to a specific problem instance. We evaluate our techniques in four different benchmark domains using both greedy best-first search and bounded suboptimal search. We find that heuristics learned on-line result in both faster search andbetter solutions while relying only on information readily available in any best-first search.

SoCS Conference 2010 Conference Paper

A Comparison of Greedy Search Algorithms

  • Christopher Makoto Wilt
  • Jordan Tyler Thayer
  • Wheeler Ruml

We discuss the relationships between three approaches to greedy heuristic search: best-first, hill-climbing, and beam search. We consider the design decisions within each family and point out their oft-overlooked similarities. We consider the following best-first searches: weighted A*, greedy search, ASeps, window A* and multi-state commitment k-weighted A*. For hill climbing algorithms, we consider enforced hill climbing and LSS-LRTA*. We also consider a variety of beam searches, including BULB and beam-stack search. We show how to best configure beam search in order to maximize robustness. An empirical analysis on six standard benchmarks reveals that beam search and best-first search have remarkably similar performance, and outperform hill-climbing approaches in terms of both time to solution and solution quality. Of these, beam search is preferable for very large problems and best first search is better on problems where the goal cannot be reached from all states.

SoCS Conference 2010 Conference Paper

Anytime Heuristic Search: Frameworks and Algorithms

  • Jordan Tyler Thayer
  • Wheeler Ruml

Anytime search is a pragmatic approach for trading solution cost and solving time. It can also be used for solving problems within a time bound. Three frameworks for constructing anytime algorithms from bounded suboptimal search have been proposed: continuing search, repairing search, and restarting search, but what combination of suboptimal search and anytime framework performs best? An extensive empirical evaluation results in several novel algorithms and reveals that the relative performance of frameworks is essentially fixed, with the repairing framework having the strongest overall performance. As part of our study, we present two enhancements to Anytime Window A* that allow it to solve a wider range of problems and hastens its convergance on optimal solutions.

SoCS Conference 2010 Conference Paper

Finding Acceptable Solutions Faster Using Inadmissible Information

  • Jordan Tyler Thayer
  • Wheeler Ruml

Bounded suboptimal search algorithms attempt to find a solution quickly while guaranteeing that the cost does not exceed optimal by more than a desired factor. These algorithms generally use a single admissible heuristic both for guidance and guaranteeing solution quality. We present a new approach to bounded suboptimal search that separates these roles, consulting multiple sources of potentially inadmissible information to determine search order and using admissible information to guarantee quality. An empirical evaluation across six benchmark domains shows the new approach has better overall performance.

ICAPS Conference 2010 Conference Paper

Improving Determinization in Hindsight for On-line Probabilistic Planning

  • Sung Wook Yoon
  • Wheeler Ruml
  • J. Benton 0001
  • Minh Binh Do

Recently, "determinization in hindsight" has enjoyed surprising success in on-line probabilistic planning. This technique evaluates the actions available in the current state by using non-probabilistic planning in deterministic approximations of the original domain. Although the approach has proven itself effective in many challenging domains, it is computationally very expensive. In this paper, we present three significant improvements to help mitigate this expense. First, we use a method for detecting potentially useful actions, allowing us to avoid estimating the values of unnecessary ones. Second, we exploit determinism in the domain by reusing relevant plans rather than computing new ones. Third, we improve action evaluation by increasing the chance that at least one determin- istic plan reaches a goal. Taken together, these improvements allow determinization in hindsight to scale significantly better on large or mostly-deterministic problems.

SoCS Conference 2010 Conference Paper

Real-Time Search in Dynamic Worlds

  • David Bond
  • Niels A. Widger
  • Wheeler Ruml
  • Xiaoxun Sun

For problems such as pathfinding in video games and robotics, a search algorithm must be real-time (return the next move within a fixed time bound) and dynamic (accommodate edge costs that can increase and decrease before the goal is reached). Existing real-time search algorithms, such as LSS-LRTA*, can handle edge cost increases but do not handle edge cost decreases. Existing dynamic search algorithms, such as D* Lite, are not real-time. We show how these two families of algorithms can be combined using bidirectional search, producing Real-Time D* (RTD*), the first real-time search algorithm designed for dynamic worlds. Our empirical evaluation shows that, for dynamic grid pathfinding, RTD* results in significantly shorter trajectories than either LSS-LRTA* or naive real-time adaptations of D* Lite because of its ability to opportunistically exploit shortcuts.

AAAI Conference 2010 Conference Paper

Searching Without a Heuristic: Efficient Use of Abstraction

  • Bradford Larsen
  • Ethan Burns
  • Wheeler Ruml
  • Robert Holte

In problem domains where an informative heuristic evaluation function is not known or not easily computed, abstraction can be used to derive admissible heuristic values. Optimal path lengths in the abstracted problem are consistent heuristic estimates for the original problem. Pattern databases are the traditional method of creating such heuristics, but they exhaustively compute costs for all abstract states and are thus usually appropriate only when all instances share the same single goal state. Hierarchical heuristic search algorithms address these shortcomings by searching for paths in the abstract space on an as-needed basis. However, existing hierarchical algorithms search less efficiently than pattern database constructors: abstract nodes may be expanded many times during the course of a base-level search. We present a novel hierarchical heuristic search algorithm, called Switchback, that uses an alternating direction of search to avoid abstract node re-expansions. This algorithm is simple to implement and demonstrates superior performance to existing hierarchical heuristic search algorithms on several standard benchmarks.

ICAPS Conference 2010 Conference Paper

The Joy of Forgetting: Faster Anytime Search via Restarting

  • Silvia Richter
  • Jordan Tyler Thayer
  • Wheeler Ruml

Anytime search algorithms solve optimisation problems by quickly finding a (usually suboptimal) first solution and then finding improved solutions when given additional time. To deliver an initial solution quickly, they are typically greedy with respect to the heuristic cost-to-go estimate h. In this paper, we show that this low-h bias can cause poor performance if the greedy search makes early mistakes. Building on this observation, we present a new anytime approach that restarts the search from the initial state every time a new solution is found. We demonstrate the utility of our method via experiments in PDDL planning as well as other domains, and show that it is particularly useful for problems where the heuristic has systematic errors.

SoCS Conference 2010 Conference Paper

The Logic of Benchmarking: A Case Against State-of-the-Art Performance

  • Wheeler Ruml

This note marshals arguments for three points. First, it is better to test on small benchmark instances than to solve the largest possible ones. This eases replication and allows a more diverse set of instances to be tested. There are few conclusions that one can draw from running on large benchmarks that can

IJCAI Conference 2009 Conference Paper

  • Ethan Burns
  • Seth Lemons
  • Rong Zhou
  • Wheeler Ruml

To harness modern multi-core processors, it is imperative to develop parallel versions of fundamental algorithms. In this paper, we present a general approach to best-first heuristic search in a sharedmemory setting. Each thread attempts to expand the most promising open nodes. By using abstraction to partition the state space, we detect duplicate states without requiring frequent locking. We allow speculative expansions when necessary to keep threads busy. We identify and fix potential livelock conditions in our approach, verifying its correctness using temporal logic. In an empirical comparison on STRIPS planning, grid pathfinding, and sliding tile puzzle problems using an 8-core machine, we show that A* implemented in our framework yields faster search than improved versions of previous parallel search proposals. Our approach extends easily to other best-first searches, such as Anytime weighted A*.

ICAPS Conference 2009 Conference Paper

Suboptimal and Anytime Heuristic Search on Multi-Core Machines

  • Ethan Burns
  • Seth Lemons
  • Wheeler Ruml
  • Rong Zhou 0001

In order to scale with modern processors, planning algorithms must become multi-threaded. In this paper, we present parallel shared-memory algorithms for two problems that underlie many planning systems: suboptimal and anytime heuristic search. We extend a recently-proposed approach for parallel optimal search to the suboptimal case, providing two new pruning rules for bounded suboptimal search. We also show how this new approach can be used for parallel anytime search. Using temporal logic, we prove the correctness of our framework, and in an empirical comparison on STRIPS planning, grid pathfinding, and sliding tile puzzle problems using an 8-core machine, we show that it yields faster search performance than previous proposals.

ICAPS Conference 2009 Conference Paper

Using Distance Estimates in Heuristic Search

  • Jordan Tyler Thayer
  • Wheeler Ruml

This paper explores the use of an oft-ignored information source in heuristic search: a search-distance-to-go estimate. Operators frequently have different costs and cost-to-go is not the same as search-distance-to-go. We evaluate two previous proposals: dynamically weighted A* and A* epsilon. We present a revision to dynamically weighted A* that improves its performance substantially in domains where the search does not progress uniformly towards solutions, and particularly in certain temporal planning problems. We show how to incorporate distance estimates into weighted A* and improve its performance in several domains. Both approaches lead to dramatic performance increases in popular benchmark domains.

ICAPS Conference 2008 Conference Paper

Faster than Weighted A*: An Optimistic Approach to Bounded Suboptimal Search

  • Jordan Tyler Thayer
  • Wheeler Ruml

Planning, scheduling, and other applications of heuristic search often demand we tackle problems that are too large to solve optimally. In this paper, we address the problem of solving shortest-path problems as quickly as possible while guaranteeing that solution costs are bounded within a specified factor of optimal. 38 years after its publication, weighted A* remains the best-performing algorithm for general-purpose bounded suboptimal search. However, it typically returns solutions that are better than a given bound requires. We show how to take advantage of this behavior to speed up search while retaining bounded suboptimality. We present an optimistic algorithm that uses a weight higher than the user's bound and then attempts to prove that the resulting solution adheres to the bound. While simple, we demonstrate that this algorithm consistently surpasses weighted A* in four different benchmark domains including temporal planning and gridworld pathfinding.

ICAPS Conference 2008 Conference Paper

Planning for Modular Printers: Beyond Productivity

  • Minh Binh Do
  • Wheeler Ruml
  • Rong Zhou 0001

This paper reports our experience extending an on-line printer controller based on AI planning to handle two significant features of this commercially important domain: execution failures and multi-objective preferences. A printer controller must plan quickly and reliably, otherwise expensive human intervention will be required. Our approach is practical and efficient, and showcases the flexibility inherent in viewing planning as heuristic search. Execution failure is handled by replanning. We link together the individual searches for each in-flight sheet, giving rise to a tree of potentially infinite branching factor. Multiple objectives are handled by linear combination and tie-breaking during best-first search. Multiple pre-computed pattern databases are used to improve the efficiency of handling preferences regarding image quality. Our successful experience controlling multiple prototype printing systems shows that replanning and preference-handling can be made practical without using hand-coded control knowledge.

IJCAI Conference 2007 Conference Paper

  • Wheeler Ruml
  • Minh B. Do

In many shortest-path problems of practical interest, insufficient time is available to find a provably optimal solution. One can only hope to achieve a balance between search time and solution cost that respects the user's preferences, expressed as a utility function over time and cost. Current state-of-the-art approaches to this problem rely on anytime algorithms such as Anytime A* or ARA*. These algorithms require the use of extensive training data to compute a termination policy that respects the user's utility function. We propose a more direct approach, called Bugsy, that incorporates the utility function directly into the search, obviating the need for a separate termination policy. Experiments in several challenging problem domains, including sequence alignment and temporal planning, demonstrate that this direct approach can surpass anytime algorithms without requiring expensive performance profiling.

ICAPS Conference 2006 Conference Paper

Lessons Learned in Applying Domain-Independent Planning to High-Speed Manufacturing

  • Minh Binh Do
  • Wheeler Ruml

Much has been made of the need for academic planning research to orient towards real-world applications. In this paper, we relate our experience in adapting domain-independent planning techniques to a real industrial problem. We present a simpler formulation of a temporal planning graph-style heuristic, show how to extend it to take resources into account, and evaluate its importance in practice. We also derive several general lessons from our experience which might guide researchers looking to increase the relevance of their work or industrial practitioners seeking to apply planning research to real problems.

ICAPS Conference 2005 Conference Paper

On-line Planning and Scheduling for High-speed Manufacturing

  • Wheeler Ruml
  • Minh Binh Do
  • Markus P. J. Fromherz

We describe a real manufacturing problem that lies between job shop scheduling and temporal planning. The setting is on-line in the sense that new jobs arrive asynchronously, perhaps several per second, while plans for previous jobs are being executed. We formalize the problem as a variant of STRIPS extended with action durations and resources. We present a hybrid algorithm for this problem that combines techniques from partial-order scheduling and state-space planning. No domain-specific search control is used. Our current implementation successfully controls two prototype plants and our technology is anticipated to enable a new line of products. By integrating planning and scheduling, we enable high productivity even for complex plants.

AAAI Conference 2004 Conference Paper

Complete Local Search for Propositional Satisfiability

  • Hai Fang
  • Wheeler Ruml

Algorithms based on following local gradient information are surprisingly effective for certain classes of constraint satisfaction problems. Unfortunately, previous local search algorithms are notoriously incomplete: They are not guaranteed to find a feasible solution if one exists and they cannot be used to determine unsatisfiability. We present an algorithmic framework for complete local search and discuss in detail an instantiation for the propositional satisfiability problem (SAT). The fundamental idea is to use constraint learning in combination with a novel objective function that converges during search to a surface without local minima. Although the algorithm has worst-case exponential space complexity, we present empirical results on challenging SAT competition benchmarks that suggest that our implementation can perform as well as state-of-the-art solvers based on more mature techniques. Our framework suggests a range of possible algorithms lying between tree-based search and local search.

NeurIPS Conference 2001 Conference Paper

Constructing Distributed Representations Using Additive Clustering

  • Wheeler Ruml

If the promise of computational modeling is to be fully realized in higher- level cognitive domains such as language processing, principled methods must be developed to construct the semantic representations used in such models. In this paper, we propose the use of an established formalism from mathematical psychology, additive clustering, as a means of auto- matically constructing binary representations for objects using only pair- wise similarity data. However, existing methods for the unsupervised learning of additive clustering models do not scale well to large prob- lems. We present a new algorithm for additive clustering, based on a novel heuristic technique for combinatorial optimization. The algorithm is simpler than previous formulations and makes fewer independence as- sumptions. Extensive empirical tests on both human and synthetic data suggest that it is more effective than previous methods and that it also scales better to larger problems. By making additive clustering practical, we take a significant step toward scaling connectionist models beyond hand-coded examples. 1 Introduction Many cognitive models posit mental representations based on discrete substructures. Even connectionist models whose processing involves manipulation of real-valued activations typically represent objects as patterns of 0s and 1s across a set of units (Noelle, Cottrell, and Wilms, 1997). Often, individual units are taken to represent specific features of the objects and two representations will share features to the degree to which the two objects are similar. While this arrangement is intuitively appealing, it can be difficult to construct the features to be used in such a model. Using random feature assignments clouds the relationship between the model and the objects it is intended to represent, diminishing the model's value. As Clouse and Cottrell (1996) point out, hand-crafted representations are tedious to construct and it can be difficult to precisely justify (or even articulate) the principles that guided their design. These difficulties effectively limit the number of objects that can be encoded, constraining modeling efforts to small examples. In this paper, we investigate methods for automatically synthesizing feature-based representations directly from the pairwise object similarities that the model is intended to respect. This automatic Table 1: An 8-feature model derived from consonant confusability data. With c = 0. 024, the model accounts for 91. 8% of the variance in the data. Wt. Objects with feature Interpretation. 350 f# front unvoiced fricatives. 243 dg back voiced stops. 197 p k unvoiced stops (without t). 182 b v# front voiced. 162 ptk unvoiced stops. 127 mn nasals. 075 dgv#z z voiced (without b). 049 ptkf#s s unvoiced approach eliminates the manual burden of selecting and assigning features while providing an explicit design criterion that objectively connects the representations to empirical data. After formalizing the problem, we will review existing algorithms that have been proposed for solving it. We will then investigate a new approach, based on combinatorial optimiza- tion. When using a novel heuristic search technique, we find that the new approach, despite its simplicity, performs better than previous algorithms and that, perhaps more important, it maintains its effectiveness on large problems. 1. 1 Additive Clustering We will formalize the problem of constructing discrete features from similarity information using the additive clustering model of Shepard and Arabie (1979). In this framework, abbreviated ADCLUS, clusters represent arbitrarily overlapping discrete features. Each of the k features has a non-negative real-valued weight w k, and the similarity between two objects i and j is just the sum of the weights of the features they share. If f ik is 1 if object i has feature k and 0 otherwise, and c is a real-valued constant, then the similarity of i and