Folding the Control Knowledge into the planner: CLAY approach

• Control knowledge similar to TLPlan’s

• Knowledge is folded using KIDS semi-automated software synthesis tool into a generic refinement planning template
  • Use of program optimizations such as
    • Finite differencing
    • Context-dependent & independent simplification

• Empirical results demonstrate that folding can be better than interpreting rules

Srivastava & Kambhampati, JAIR 97

Caveat: Current automated software

synthesis tools

have a very steep learning curve

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