1. 1"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
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Chapter(3((
Delibera.on(with(Refinement(Methods(
(
Integra.ng(Ac.ng(and(Planning(
Dana S. Nau and Vikas Shivashankar
University of Maryland

2. 2"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Revised(Version(
of(SeRPE(
● Clearer how it corresponds
to what RAE does
● Lines (ii) and (iii) simulate
RAE’s goal monitoring

3. 3"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Simple(Ac.ng(Procedures(

4. 4"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Simple(Ac.ng(Procedures(

5. 5"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"

6. 6"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Example(Planning(Problem(
● Refinement planning problem:
! P = (M, A, s3, putHinHpile(c1,"p2))
s3 =
● putHinHpile(c, p′): put c into pile p′ if it is not
already there
● Two methods: noHcarry"and carryHtoHpile
!!!!!!!!!d1!
!!!!!!!!!!!d3!
!
p1!!!!!c2!
c1!
!!!!!!!!!d2!
!!!!!!!!!!!p2!
c3!
!!!!!!!!!!!p3!
r1!

7. 7"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Example(Planning(Problem((con.nued)(
● Task:"
! uncover(c): ensure there are no
containers on c
! Two methods: noHremove and
removeHabove
● Task:
! navigate(r,d′): move r along an
undetermined route that ends at d′
● Two methods: noHgo"and route"
! Backward search through all possible
routes

8. 8"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Two(Refinement(Trees(
task
put-in-pile(c1,p2)
method
carry-to-pile(r1,c1,p1,d1,p2,d2)
task
uncover(c1)
method
no-remove(c1)
task
navigate(r1,d2)
action
load(r1,c1,p1)
action
unload(r1,c1,p2)
(no children)
method
route(r1,d1,d2)
action
move(r1,d2)
task
put-in-pile(c1,p2)
method
carry-to-pile(r1,c1,p1,d1,p2,d2)
task
uncover(c1)
method
no-remove(c1)
task
navigate(r1,d2)
action
load(r1,c1,p1)
action
unload(r1,c1,p2)
(no children)
method
route(r1,d3,d2)
task
navigate(r1,d3)
method
route(r1,d1,d3)
action
move(r1,d3)

9. 9"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Simple(Ac.ng(Procedures(
task
put-in-pile(c1,p2)
method
carry-to-pile(r1,c1,p1,d1,p2,d2
task
uncover(c1)
method
no-remove(c1)
task
navigate(r1,d2)
action
load(r1,c1,p1)
action
unload(r1
(no children)
method
route(r1,d1,d2)
action
move(r1,d2)
me
no
(no
!!!!!!!!!d1!
!!!!!!!!!!!d3!
!
p1!!!!!c2!
c1!
!!!!!!!!!d2!
!!!!!!!!!!!p2!
c3!
!!!!!!!!!!!p3!
r1!

10. 10"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"

11. 11"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
REAP(
● Modified version of RAE
! Each time it wants to choose a method instance, it calls a modified version of SeRPE

12. 12"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
Example(
!!!!!!!!!d1!
!!!!!!!!!!!d3!
!
p1!!!!!c2!
c1!
!!!!!!!!!d2!
!!!!!!!!!!!p2!
c3!
!!!!!!!!!!!p3!
r1!
task
put-in-pile(c1,p2)
method
carry-to-pile(r1,c1,p1,d1,p2,d2
task
uncover(c1)
method
no-remove(c1)
task
navigate(r1,d2)
action
load(r1,c1,p1)
action
unload(r1
(no children)
method
route(r1,d1,d2)
action
move(r1,d2)
met
no-
(no

13. 13"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
!!!!!!!!!d1!
!!!!!!!!!!!d3!
!
p1!!!!!c2!
c1!
!!!!!!!!!d2!
!!!!!!!!!!!p2!
c3!
!!!!!!!!!!!p3!
r1!
task
put-in-pile(c1,p2)
method
carry-to-pile(r1,c1,p1,d1,p2,d2
task
uncover(c1)
method
no-remove(c1)
task
navigate(r1,d2)
action
load(r1,c1,p1)
action
unload(r1
(no children)
method
route(r1,d1,d2)
action
move(r1,d2)
met
no-
(no

14. 14"Dana"Nau"and"Vikas"Shivashankar:"Lecture"slides"for!Automated!Planning!and!Ac0ng" Updated"3/24/15"
● Suppose that when r1 starts on the road from d1 to d2,
a jolt makes it drop c1"
! Failure in REAPHprogress"when it checks action
status or uses ̄γ
● What will it do to recover?
!!!!!!!!!d1!
!!!!!!!!!!!d3!
!
p1!!!!!c2!
c1!
!!!!!!!!!d2!
!!!!!!!!!!!p2!
c3!
!!!!!!!!!!!p3!
r1!
task
put-in-pile(c1,p2)
method
carry-to-pile(r1,c1,p1,d1,p2,d2
task
uncover(c1)
method
no-remove(c1)
task
navigate(r1,d2)
action
load(r1,c1,p1)
action
unload(r1
(no children)
method
route(r1,d1,d2)
action
move(r1,d2)
met
no-
(no