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Integrating Acting, Planning, and Learning in Hierarchical Operational Models

Authors

Sunandita Patra,James Mason,Amit Kumar,Malik Ghallab,Paolo Traverso,Dana Nau

University of Maryland, College Park,University of Maryland, College Park,University of Maryland, College Park,LAAS-CNRS,Fondazione Bruno Kessler,University of Maryland, College Park


Proceedings:

Book One

Volume

Issue:

Proceedings of the International Conference on Automated Planning and Scheduling, 30

Track:

Knowledge Engineering

Downloads:

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Abstract:

We present new planning and learning algorithms for RAE, the Refinement Acting Engine (Ghallab, Nau, and Traverso 2016). RAE uses hierarchical operational models to perform tasks in dynamically changing environments. Our planning procedure, UPOM, does a UCT-like search in the space of operational models in order to find a near optimal method to use for the task and context at hand. Our learning strategies acquire, from online acting experiences and/or simulated planning results, a mapping from decision contexts to method instances as well as a heuristic function to guide UPOM. Our experimental results show that UPOM and our learning strategies significantly improve RAE's performance in four test domains using two different metrics: efficiency and success ratio.

DOI:

10.1609/icaps.v30i1.6743


ICAPS

Proceedings of the International Conference on Automated Planning and Scheduling, 30