Repairing Decision-Theoretic Policies Using Goal-Oriented Planning

Authors:
Christoph Mies;Alexander Ferrein;Gerhard Lakemeyer
Affiliations:
Fraunhofer-Institut für Intelligente Analyse-, und Informationssysteme IAIS, Schloss Birlinghoven, Augustin,;Knowledge-based Systems Group, RWTH Aachen University, Aachen, D-52056;Knowledge-based Systems Group, RWTH Aachen University, Aachen, D-52056
Venue:
KI '08 Proceedings of the 31st annual German conference on Advances in Artificial Intelligence
Year:
2008

Citing 3
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Abstract

In this paper we address the problem of how decision-theoretic 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 Gologbased 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 pddldescription and a state-of-the-art pddlplanner is deployed to calculate the repair plan.