A Two-Teams Approach for Robust Probabilistic Temporal Planning

Large real-world Probabilistic Temporal Planning (PTP) is a very challenging research field. A common approach is to model such problems as Markov Decision Problems (MDP) and use dynamic programming techniques. Yet, two major difficulties arise: 1dynamic programming does not scale with the number of tasks, and 2the probabilistic model may be uncertain, leading to the choice of unsafe policies. We build here on the Factored Policy Gradient (FPG) algorithm and on robust decision-making to address both difficulties through an algorithm that trains two competing teams of learning agents. As the learning is simultaneous, each agent is facing a non-stationary environment. The goal is for them to find a common Nash equilibrium.