Core Concepts
CURRICULAMA, an algorithm that automatically learns Hierarchical Task Network (HTN) methods from planning landmarks, eliminating the need for manual task annotations required by previous methods.
Abstract
CURRICULAMA is an algorithm that learns HTN methods from classical planning problems without requiring manual task annotations. It works by:
Extracting landmarks (facts that must appear in every solution plan) from the planning problem using landmark analysis.
Generating a curriculum of increasingly complex subtasks to learn, based on the landmark orderings.
Using the curriculum to guide the learning of HTN methods that can solve the original planning problem.
The key advantages of CURRICULAMA are:
It completely automates the HTN method learning process, eliminating the need for human-provided task annotations.
It uses landmarks to structure the learning process, starting with simpler subtasks and building up to more complex methods.
Experiments show CURRICULAMA has a similar convergence rate in learning a complete set of methods compared to the previous HTN-MAKER algorithm, while requiring no manual input.
CURRICULAMA first uses landmark analysis to extract a landmark graph from the classical planning problem. It then generates a curriculum of subtasks to learn, where each subtask corresponds to achieving a landmark. The curriculum starts with simpler subtasks and gradually increases in complexity.
CURRICULAMA then uses a subroutine called CURRICULEARN to learn HTN methods from this curriculum. CURRICULEARN analyzes plan traces to learn preconditions and subtasks for each method, reusing previously learned methods as subroutines when possible.
The paper proves that the methods learned by CURRICULAMA can be used to solve the equivalent hierarchical planning problem to the original classical planning problem. Experiments show CURRICULAMA learns methods comparably to the previous HTN-MAKER algorithm, while eliminating the need for manual task annotations.
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