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Repairing decision-theoretic policies using goal-oriented planning

 
: Mies, C.; Ferrein, A.; Lakemeyer, G.

:

Dengel, A.R.; Berns, K.; Breuel, T.M.; Bomarius, F.; Roth-Berghofer, T.R.:
KI 2008. Advances in artificial intelligence. 31st Annual German Confernce on AI : Kaiserslautern, Germany, September 23-26, 2008; Proceedings
Berlin: Springer, 2008 (Lecture Notes in Artificial Intelligence 5243)
ISBN: 3-540-85844-X
ISBN: 978-3-540-85844-7
ISSN: 0302-9743
S.267-275
German Conference on Artificial Intelligence (KI) <31, 2008, Kaiserslautern>
Englisch
Konferenzbeitrag
Fraunhofer IAIS ()

Abstract
In this paper we address the problem of how decisiontheoretic policies can be repaired. This work is motivated by observations made in robotic soccer where decision-theoretic policies become invalid due to small deviations during execution; and repairing might pay off compared to re-planning from scratch. Our policies are generated with Readylog, a derivative of Golog based on the situation calculus, which combines programming and planning for agents in dynamic domains. When an invalid policy is detected, the world state is transformed into a PDDL description and a state-of-the-art PDDL planner is deployed to calculate the repair plan.

: http://publica.fraunhofer.de/dokumente/N-82128.html