Repairing decision-theoretic policies using goal-oriented planning

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.