Core Concepts
Intelligent robots can benefit from identifying opportunities during plan execution to enhance performance.
Abstract
The content discusses the importance of identifying opportunities during plan execution for intelligent robots. It highlights the benefits of focusing on positive impacts rather than just replanning after failures. The proposed technique aims to find and store opportunities during planning, which can be utilized during execution to improve perception and repair plans efficiently. Experiments in various robotic tasks demonstrate the effectiveness of this approach over standard replanning strategies.
Structure:
I. Introduction
- Importance of generating plans for robots.
- Challenges due to dynamic environments.
II. Related Work
- Previous methods for plan repair.
- Focus on monitoring optimal plans.
III. Background
- Definition of a classical planning task.
- Introduction to causal links for defining opportunities.
IV. Computation of Causal Links Opportunities
- Algorithm for computing causal links based on opportunities.
- Example illustrating causal links in a robot environment.
V. Intelligent Monitoring
- Algorithm for plan execution, monitoring, and repair.
- Example demonstrating the repair strategy.
VI. Experiments and Results
- Comparison between CLO and REPLAN in three domains.
- Impact of opportunity appearance probability on computational effort and quality of solutions.
VII. Conclusions and Future Work
Stats
Most executives only check for failures when monitoring plan validity.
Plan cost is defined as the sum of action costs in a sequence.
The algorithm computes causal links based on opportunities from a valid plan.
Quotes
"Opportunities have also been studied in cognitive science for human reasoning."
"In recent work, we used the plan rationale to reason about static opportunities."