Macro-operators: a weak method for learning
Artificial Intelligence - Lecture notes in computer science 178
Engineering and compiling planning domain models to promote validity and efficiency
Artificial Intelligence
Sokoban: enhancing general single-agent search methods using domain knowledge
Artificial Intelligence - Special issue on heuristic search in artificial intelligence
A Heuristic Approach to the Discovery of Macro-Operators
Machine Learning
Learning to solve problems by searching for macro-operators
Learning to solve problems by searching for macro-operators
The FF planning system: fast plan generation through heuristic search
Journal of Artificial Intelligence Research
The role of macros in tractable planning
Journal of Artificial Intelligence Research
An LP-based heuristic for optimal planning
CP'07 Proceedings of the 13th international conference on Principles and practice of constraint programming
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Research on macro-operators has a long history in planning and other search applications. There has been a revival of interest in this topic, leading to systems that successfully combine macrooperators with current state-of-the-art planning approaches based on heuristic search. However, research is still necessary to make macros become a standard, widely-used enhancement of search algorithms. This article introduces sequences of macro-actions, called iterative macros. Iterative macros exhibit both the potential advantages (e.g., travel fast towards goal) and the potential limitations (e.g., utility problem) of classical macros, only on a much larger scale. A family of techniques are introduced to balance this trade-off in favor of faster planning. Experiments on a collection of planning benchmarks show that, when compared to low-level search and even to search with classical macro-operators, iterative macros can achieve an impressive speed-up in search.