论文标题
通过虚拟动作的任务计划和解释
Task planning and explanation with virtual actions
论文作者
论文摘要
任务计划的挑战之一是找出导致计划故障以及如何智能处理故障的原因。本文展示了如何实现这一目标。这个想法的灵感来自连接的图：每个垂直代表一组兼容\ textit {states}，每个边缘代表一个\ textit {action}。对于任何给定的初始状态和目标，我们构建虚拟行动，以确保我们始终通过任务计划获得计划。本文展示了如何引入虚拟动作以扩展操作模型以使图形要连接：i）明确定义静态谓词（类型，永久属性等）或动态谓词（state）; ii）为每个州构建完整的虚拟动作或半虚拟动作； iii）通过渐进式计划方法找到了计划失败的原因。在三种典型情况下评估了实现。
One of the challenges of task planning is to find out what causes the planning failure and how to handle the failure intelligently. This paper shows how to achieve this. The idea is inspired by the connected graph: each verticle represents a set of compatible \textit{states}, and each edge represents an \textit{action}. For any given initial states and goals, we construct virtual actions to ensure that we always get a plan via task planning. This paper shows how to introduce virtual action to extend action models to make the graph to be connected: i) explicitly defines static predicate (type, permanent properties, etc) or dynamic predicate (state); ii) constructs a full virtual action or a semi-virtual action for each state; iii) finds the cause of the planning failure through a progressive planning approach. The implementation was evaluated in three typical scenarios.
