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reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["planning","rddl","tensorflow"],"created_at":"2026-01-16T10:14:00.259Z","updated_at":"2026-01-16T10:14:00.458Z","avatar_url":"https://github.com/thiagopbueno.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# tf-plan [![Py Versions][py-versions.svg]][pypi-project] [![PyPI version][pypi-version.svg]][pypi-version] [![Build Status][travis.svg]][travis-project] [![Documentation Status][rtd-badge.svg]][rtd-badge] [![License: GPL v3][license.svg]][license]\n\nPlanning via gradient-based optimization in continuous MDPs using TensorFlow.\n\n**tf-plan** is an implementation based on the NIPS 2017 paper:\n\n\u003e Wu Ga, Buser Say, and Scott Sanner, 2017\u003cbr\u003e\n\u003e **[Scalable Planning with Tensorflow for Hybrid Nonlinear Domains.](http://papers.nips.cc/paper/7207-scalable-planning-with-tensorflow-for-hybrid-nonlinear-domains.pdf)**\u003cbr\u003e\n\u003e In Advances in *Neural Information Processing Systems* (pp. 6273-6283).\n\n\n# Quickstart\n\n**tf-plan** is a Python3.5+ package available in PyPI.\n\n```text\n$ pip3 install -U tf-plan\n```\n\n# Features\n\n**tf-plan** solves discrete time MDPs with continuous state-action spaces and deterministic transitions.\n\nThe domains/instances are specified using the [RDDL](http://users.cecs.anu.edu.au/~ssanner/IPPC_2011/RDDL.pdf) language.\n\nIt is built on Python3's RDDL toolkit:\n\n- [pyrddl](https://github.com/thiagopbueno/pyrddl): RDDL lexer/parser in Python3.\n- [rddl2tf](https://github.com/thiagopbueno/rddl2tf): RDDL2TensorFlow compiler.\n- [rddlgym](https://github.com/thiagopbueno/rddlgym): A toolkit for working with RDDL domains in Python3.\n\nPlease refer to the projects' documentation for further details.\n\n\n# Usage\n\n```text\n$ tfplan --help\nUsage: tfplan [OPTIONS] [tensorplan|straightline|hindsight] RDDL\n\n  Planning via gradient-based optimization in TensorFlow.\n\n  Args:\n      RDDL Filename or rddlgym domain/instance id.\n\nOptions:\n  -b, --batch-size INTEGER        Number of trajectories in a batch.\n                                  [default: 128]\n  -hr, --horizon INTEGER          Number of timesteps.  [default: 40]\n  -e, --epochs INTEGER            Number of training epochs.  [default: 500]\n  --optimizer [Adadelta|Adagrad|Adam|GradientDescent|ProximalGradientDescent|ProximalAdagrad|RMSProp]\n                                  [default: GradientDescent]\n  -lr, --learning-rate FLOAT      Optimizer's learning rate.  [default: 0.001]\n  -n, --num-samples INTEGER       Number of runs.  [default: 1]\n  --num-workers INTEGER RANGE     Number of worker processes (min=1, max=12).\n                                  [default: 1]\n  --logdir PATH                   Directory used for logging training\n                                  summaries.  [default: /tmp/tfplan/]\n  -v, --verbose                   Verbosity flag.\n  --version                       Show the version and exit.\n  --help                          Show this message and exit.\n```\n\n## Examples\n\n### Navigation\n\n```text\n$ tfplan tensorplan Navigation-v1 -b 32 -hr 20 -e 200 --optimizer RMSProp -lr 0.05\n    location(x)  location(y)   move(x)   move(y)  distance(z1)  distance(z2)  deceleration(z1)  deceleration(z2)     reward  done\n0      0.000000     1.000000  0.997812  0.251873      6.103278      2.500000          0.998212          0.905148 -11.313708   0.0\n1      0.901553     1.227575  0.997849  0.928313      5.244620      1.870730          0.995207          0.808415 -10.526089   0.0\n2      1.704362     1.974440  0.997174  0.994867      4.152069      1.045723          0.983263          0.556283  -9.433639   0.0\n3      2.249789     2.518605  0.991678  0.996339      3.389630      0.891024          0.960244          0.488901  -8.664492   0.0\n4      2.715346     2.986350  0.891563  0.996716      2.740580      1.215423          0.917949          0.622608  -8.005720   0.0\n5      3.224894     3.555996  0.421230  0.996869      2.010508      1.812289          0.819746          0.795918  -7.241465   0.0\n6      3.499726     4.206403  0.444045  0.996535      1.528732      2.335447          0.705929          0.885625  -6.575032   0.0\n7      3.777337     4.829425  0.924151  0.995804      1.266264      2.921140          0.621903          0.941680  -5.935030   0.0\n8      4.318551     5.412601  0.984080  0.992210      1.138953      3.710104          0.574958          0.976961  -5.140282   0.0\n9      4.871320     5.969937  0.985487  0.985184      1.475559      4.492920          0.690257          0.990931  -4.355447   0.0\n10     5.545391     6.643800  0.975556  0.964462      2.212087      5.444489          0.854325          0.997096  -3.402467   0.0\n11     6.376412     7.465371  0.940539  0.905565      3.269241      6.612030          0.954476          0.999284  -2.234082   0.0\n12     7.273490     8.329092  0.739812  0.695562      4.453168      7.856998          0.988132          0.999839  -0.988905   0.0\n13     8.004405     9.016289  0.029843  0.117345      5.424326      8.860193          0.996100          0.999952  -0.016874   0.0\n14     8.034130     9.133170 -0.087813 -0.059488      5.538250      8.961620          0.996578          0.999957  -0.137474   0.0\n15     7.946621     9.073888  0.021886 -0.044026      5.440866      8.857259          0.996173          0.999952  -0.091152   0.0\n16     7.968422     9.030033  0.021429 -0.015050      5.415970      8.843177          0.996062          0.999951  -0.043579   0.0\n17     7.989765     9.015043 -0.013826  0.016563      5.415193      8.848604          0.996059          0.999951  -0.018195   0.0\n18     7.975994     9.031540 -0.028730  0.037703      5.421383      8.849745          0.996087          0.999951  -0.039636   0.0\n19     7.947378     9.069093  0.010496 -0.030616      5.437246      8.854523          0.996157          0.999951  -0.086850   1.0\n```\n\n# Documentation\n\nPlease refer to [https://tf-plan.readthedocs.io/](https://tf-plan.readthedocs.io/) for the code documentation.\n\n# Support\n\nIf you are having issues with tf-plan, please let me know at: [thiago.pbueno@gmail.com](mailto://thiago.pbueno@gmail.com).\n\n# License\n\nCopyright (c) 2018-2020 Thiago Pereira Bueno All Rights Reserved.\n\ntf-plan is free software: you can redistribute it and/or modify it\nunder the terms of the GNU Lesser General Public License as published by\nthe Free Software Foundation, either version 3 of the License, or (at\nyour option) any later version.\n\ntf-plan is distributed in the hope that it will be useful, but\nWITHOUT ANY WARRANTY; without even the implied warranty of\nMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser\nGeneral Public License for more details.\n\nYou should have received a copy of the GNU Lesser General Public License\nalong with tf-plan. 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