רונן ברפמן

We extend RBPP, the state-of-the-art, translation-based planner for conformant probabilistic planning (CPP) with deterministic actions, to handle a wide set of CPPs with stochastic actions. Our planner uses relevance analysis to divide a probabilistic "failure-allowance" between the initial state and the stochastic actions. Using its "initial-state allowance," it uses relevance analysis to select a subset of the set of initial states on which planning efforts will focus. Then, it generates a deterministic planning problem using all-outcome determinization in which action cost reflects the probability of the modeled outcome. Finally, a cost-bounded classical planner generates a plan with failure probability lower than the "stochastic-effect allowance." Our compilation method is sound, but incomplete, as it may underestimates the success probability of a plan. Yet, it scales up much better than the state-of-the-art PFF planner, solving larger problems and handling tighter probabilistic bounds on existing benchmarks.