CURRICULAMA is an algorithm that learns HTN methods from classical planning problems without requiring manual task annotations. It works by:
The key advantages of CURRICULAMA are:
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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arxiv.org
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by Ruoxi Li,Dan... at arxiv.org 04-10-2024
https://arxiv.org/pdf/2404.06325.pdfDeeper Inquiries