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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
German Conference on Artificial Intelligence (KI) <31, 2008, Kaiserslautern>
Fraunhofer IAIS ()

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.