Hybrid Planning for Partially Hierarchical Domains


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Table of Contents

Hybrid Planning for Partially Hierarchical Domains

The Tale of Two Planning Paradigms

UCP as a framework for integration


UCP: Plan Representation

UCP: Planning Template

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HTN Planning

Partial hierarchicalization

Modeling Reduction Schemas

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Semantics of plans with non-primitive actions

Extending UCP Planning Template

Generalizing Plan-space Refinement: HPS


Respecting User-intent

Avoiding non-minimal plans

HPS continued… Solutions

Phantom Establishments

Changes to Conflict Resolution

HPS refinement: Summary

Related Work


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Author: Kambhampati

Email: rao@asu.edu

Home Page: http://rakaposhi.eas.asu.edu