Lesson Plan – Monday October
13
1. Hierarchical Planning
2. Exercise in Hierarchical Planning: The Cooking Domain
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Hierarchical
Planning:
IDEA: Think about action at different levels of
abstraction and granularity.
A plan at one level can be
thought of as an action at a higher level!
Instead of stringing actions
together one after another, planning can be thought of as determining how to
REFINE a high-level action into low-level actions.
EXAMPLES:
TransportByAir(package,
city1, city2)
Preconditions:
At(package,city1)
Effect: At(package,city2),
~At(package,city1)
Body:
Load(package,truck1,city1);
Drive(package,
city1, airport1);
Unload(package,truck1,airport1)
Load(package,Plane16,airport1)
Fly(Plane16,airport1,airport2)
Unload(package,
Plane16, airport2)
Load(package,
truck2, airport2)
Drive(truck2,
airport2, city2)
Unload(package,
truck2)
Might also have other high-level
plans with same preconditions/effect but different body:
TransportByTrain(package,
city1, city2)
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EXERCISE: Break into groups of 4. Write down a set of hierarchical plans about all the things you need to do to make breakfast. Report back!