Open AccessProceedings Article
SHOP: Simple Hierarchical Ordered Planner
Dana S. Nau,Yue Cao,Amnon Lotem,Héctor Muñoz-Avila +3 more
- pp 968-975
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TLDR
In the authors' tests, SHOP was several orders of magnitude faster man Blackbox and several times faster than TLpian, even though SHOP is coded in Lisp and the other planners are coded in C.Abstract:
SHOP (Simple Hierarchical Ordered Planner) is a domain-independent HTN planning system with the following characteristics. • SHOP plans for tasks in the same order that they will later be executed. This avoids some goal-interaction issues that arise in other HTN planners, so that the planning algorithm is relatively simple. • Since SHOP knows the complete world-state at each step of the planning process, it can use highly expressive domain representations. For example, it can do planning problems that require complex numeric computations. • In our tests, SHOP was several orders of magnitude faster man Blackbox and several times faster than TLpian, even though SHOP is coded in Lisp and the other planners are coded in C.read more
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Proceedings ArticleDOI
Inner Monologue: Embodied Reasoning through Planning with Language Models
Wenrong Huang,Fei Xia,Ted Xiao,H.L. Brode S.K. Chan,Jacky Liang,Peter R. Florence,Andy Zeng,Jonathan James Richard Tompson,Igor Mordatch,Yevgen Chebotar,Pierre Sermanet,Noah Brown,Tomas Jackson,Linda Luu,Sergey Levine,Karol Hausman,Brian Ichter +16 more
TL;DR: In this article , the authors investigate the extent to which large language models can reason over sources of feedback provided through natural language, without any additional training, such as success detection, scene description, and human interaction.
Journal ArticleDOI
Applications of SHOP and SHOP2
Dana S. Nau,Tsz-Chiu Au,Okhtay Ilghami,Ugur Kuter,Dan Wu,Fusun Yaman,Héctor Muñoz-Avila,J.W. Murdock +7 more
TL;DR: The simple hierarchical ordered planner (SHOP) and its successor, SHOP2, are designed with two goals in mind: to investigate research issues in automated planning and to provide some simple, practical planning tools.
Proceedings Article
Total-order planning with partially ordered subtasks
TL;DR: The experimental results suggest that in some problem domains, the difficulty of writing SHOP knowledge bases derives from SHOP's total-ordering requirement--and that in such cases, SHOP2 can plan as efficiently as SHOP using knowledge bases simpler than those needed by SHOP.
Journal ArticleDOI
In defense of PDDL axioms
TL;DR: In this paper, the authors propose an adequate semantics for pddl-like axioms and show that they are an essential feature by proving that it is impossible to compile them away if we restrict the growth of plans and domain descriptions to be polynomial.
Proceedings ArticleDOI
Hierarchical planning in BDI agent programming languages: a formal approach
TL;DR: It is argued that the resulting integrated agent programming language combines the advantages of both BDI agent systems and hierarchical offline planners, and cleanly incorporates HTN-style planning as a built-in feature.
References
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Book
A Structure for Plans and Behavior
TL;DR: Progress to date in the ability of a computer system to understand and reason about actions is described, and the structure of a plan of actions is as important for problem solving and execution monitoring as the nature of the actions themselves.
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UCPOP: a sound, complete, partial order planner for ADL
TL;DR: It is proved ucpop is both sound and complete for this representation and a practical implementation that succeeds on all of Pednault's and McDermott's examples, including the infamous "Yale Stacking Problem".
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Generating project networks
TL;DR: The planner (NONLIN) and the Task Formalism (TF) used to hierarchically specify a domain are described, which can aid in the generation of project networks.
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Using temporal logics to express search control knowledge for planning
Fahiem Bacchus,Froduald Kabanza +1 more
TL;DR: This work shows how domain dependent search control knowledge can be represented in a temporal logic, and then utilized to effectively control a forward-chaining planner.
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Systematic nonlinear planning
TL;DR: A simple, sound, complete, and systematic algorithm for domain independent STRIPS planning by starting with a ground procedure and then applying a general, and independently verifiable, lifting transformation.