Refinement Planning Status and Prospectus优雅的现状和规划说明书.pptVIP

10/4: Knowledge-based Planning ? Semester Project Proposals due CUSTOMIZING PLANNERS WITH DOMAIN SPECIFIC KNOWLEDGE Digression: Domain-Independent vs. Domain Specific vs. Domain Customized Domain independent planners only expect as input the description of the actions (in terms of their preconditions and effects), and the description of the goals to be achieved Domain dependent planners make use of additional knowledge beyond action and goal specification Domain dependent planners may either be stand alone programs written specifically for that domain OR domain independent planners customized to a specific domain In the case of domain-customized planners, the additional knowledge they exploit can come in many varieties (declarative control rules or procedural directives on which search choices to try and in what order) The additional knowledge can either be input manually or in some cases, be learned automatically Improving Performancethrough Customization Biasing the search with control knowledge acquired from experts Non-primitive actions and reduction schemas Automated synthesis of customized planners Combine formal theory of refinement planning and domain-specific control knowledge Use of learning techniques Search control rule learning Plan reuse User-Assisted Customization(using domain-specific Knowledge) Domain independent planners tend to miss the regularities in the domain Domain specific planners have to be built from scratch for every domain An “Any-Expertise” Solution: Try adding domain specific control knowledge to the domain-independent planners Task Decomposition (HTN) Planning The OLDEST approach for providing domain-specific knowledge Most of the fielded applications use HTN planning Domain model contains non-primitive actions, and schemas for reducing them Reduction schemas are given by the designer Can be seen as encoding user-intent Popularity of HTN approaches a testament of ease with which these schemas are available? Two notions of co