Checking correctness of a plan: The Causal Approach
Causal Proof: Check if each of the goals and preconditions of the action are
- “established” : There is a preceding step that gives it
- “declobbered”: No possibly intervening step deletes it
- Or for every preceding step that deletes it, there exists another step that precedes the condition, follows the deleter adds it back.
Causal proof is
- “local” (checks correctness one condition at a time)
- “state-less” (does not need to know the states preceding actions)
- “incremental” with respect to action insertion