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pyRDDLGym-gurobi

Author: Mike Gimelfarb

This repository supports compilation of RDDL description files into Gurobi's mixed-integer (non-linear) programs, and automated planning tools for optimizing these programs in MDPs.

Note

The Gurobi planners currently determinize all stochastic variables, making it less suitable for highly stochastic problems or problems with (stochastic) dead ends. If you find it is not making sufficient progress on a stochastic problem, or doesn't scale well computationally to your problem, check out the PROST planner (for discrete spaces), the JAX planner (for continuous problems), or the deep reinforcement learning wrappers.

Contents

Installation

The basic requirements are pyRDDLGym>=2.0 and gurobipy>=10.0.0. To run the basic example, you will also require rddlrepository>=2.0. Everything except rddlrepository can be installed via pip:

pip install pyRDDLGym-gurobi

Running the Basic Example

The basic example provided in pyRDDLGym-gurobi will run the Gurobi planner on a domain and instance of your choosing. To run this, navigate to the install directory of pyRDDLGym-gurobi, and run:

python -m pyRDDLGym_gurobi.examples.run_plan <domain> <instance>

where:

  • <domain> is the domain identifier as specified in rddlrepository (i.e. Wildfire_MDP_ippc2014), or a path pointing to a valid domain.rddl file
  • <instance> instance is the instance identifier (i.e. 1, 2, ... 10) in rddlrepository, or a path pointing to a valid instance.rddl file

Running from the Python API

If you are working with the Python API, you can instantiate the environment and planner however you wish:

import pyRDDLGym
from pyRDDLGym_gurobi.core.planner import GurobiStraightLinePlan, GurobiOnlineController

# Create the environment
env = pyRDDLGym.make("domain name", "instance name")

# Create the planner
plan = GurobiStraightLinePlan()
controller = GurobiOnlineController(rddl=env.model, plan=plan, rollout_horizon=5)

# Run the planner
controller.evaluate(env, episodes=1, verbose=True, render=True)

Note, that the GurobiOnlineController is an instance of pyRDDLGym's BaseAgent, so the evaluate() function can be used to streamline interaction with the environment.

Configuring pyRDDLGym-gurobi

The recommended way to manage planner settings is to write a configuration file with all the necessary hyper-parameters, which follows the same general format as for the JAX planner. Below is the basic structure of a configuration file for straight-line planning:

[Gurobi]
NonConvex=2
OutputFlag=0

[Optimizer]
method='GurobiStraightLinePlan'
method_kwargs={}
rollout_horizon=5
verbose=1

The configuration file can then be parsed and passed to the planner as follows:

import os
from pyRDDLGym_gurobi.core.planner import load_config

# load the config
abs_path = os.path.dirname(os.path.abspath(__file__))
config_path = os.path.join(abs_path, 'default.cfg')
controller_kwargs = load_config(config_path)

# pass the parameters to the controller and proceed as usual
controller = GurobiOnlineController(rddl=env.model, **controller_kwargs)
...

Citing pyRDDLGym-gurobi

The following citation describes the main ideas of the framework. Please cite it if you found it useful:

@inproceedings{gimelfarb2024jaxplan,
    title={JaxPlan and GurobiPlan: Optimization Baselines for Replanning in Discrete and Mixed Discrete and Continuous Probabilistic Domains},
    author={Michael Gimelfarb and Ayal Taitler and Scott Sanner},
    booktitle={34th International Conference on Automated Planning and Scheduling},
    year={2024},
    url={https://openreview.net/forum?id=7IKtmUpLEH}
}