50,187 research outputs found
Relating Knowledge and Coordinated Action: The Knowledge of Preconditions Principle
The Knowledge of Preconditions principle (KoP) is proposed as a widely
applicable connection between knowledge and action in multi-agent systems.
Roughly speaking, it asserts that if some condition is a necessary condition
for performing a given action A, then knowing that this condition holds is also
a necessary condition for performing A. Since the specifications of tasks often
involve necessary conditions for actions, the KoP principle shows that such
specifications induce knowledge preconditions for the actions. Distributed
protocols or multi-agent plans that satisfy the specifications must ensure that
this knowledge be attained, and that it is detected by the agents as a
condition for action. The knowledge of preconditions principle is formalised in
the runs and systems framework, and is proven to hold in a wide class of
settings. Well-known connections between knowledge and coordinated action are
extended and shown to derive directly from the KoP principle: a "common
knowledge of preconditions" principle is established showing that common
knowledge is a necessary condition for performing simultaneous actions, and a
"nested knowledge of preconditions" principle is proven, showing that
coordinating actions to be performed in linear temporal order requires a
corresponding form of nested knowledge.Comment: In Proceedings TARK 2015, arXiv:1606.0729
Exploiting Block Deordering for Improving Planners Efficiency
Capturing and exploiting structural knowledge of
planning problems has shown to be a successful
strategy for making the planning process more ef-
ficient. Plans can be decomposed into its constituent
coherent subplans, called blocks, that encapsulate
some effects and preconditions, reducing
interference and thus allowing more deordering
of plans. According to the nature of blocks, they
can be straightforwardly transformed into useful
macro-operators (shortly, “macros”). Macros are
well known and widely studied kind of structural
knowledge because they can be easily encoded in
the domain model and thus exploited by standard
planning engines.
In this paper, we introduce a method, called
BLOMA, that learns domain-specific macros from
plans, decomposed into “macro-blocks” which are
extensions of blocks, utilising structural knowledge
they capture. In contrast to existing macro learning
techniques, macro-blocks are often able to capture
high-level activities that form a basis for useful
longer macros (i.e. those consisting of more original
operators). Our method is evaluated by using
the IPC benchmarks with state-of-the-art planning
engines, and shows considerable improvement in
many cases
2Planning for Contingencies: A Decision-based Approach
A fundamental assumption made by classical AI planners is that there is no
uncertainty in the world: the planner has full knowledge of the conditions
under which the plan will be executed and the outcome of every action is fully
predictable. These planners cannot therefore construct contingency plans, i.e.,
plans in which different actions are performed in different circumstances. In
this paper we discuss some issues that arise in the representation and
construction of contingency plans and describe Cassandra, a partial-order
contingency planner. Cassandra uses explicit decision-steps that enable the
agent executing the plan to decide which plan branch to follow. The
decision-steps in a plan result in subgoals to acquire knowledge, which are
planned for in the same way as any other subgoals. Cassandra thus distinguishes
the process of gathering information from the process of making decisions. The
explicit representation of decisions in Cassandra allows a coherent approach to
the problems of contingent planning, and provides a solid base for extensions
such as the use of different decision-making procedures.Comment: See http://www.jair.org/ for any accompanying file
The Use of Knowledge Preconditions in Language Processing
If an agent does not possess the knowledge needed to perform an action, it
may privately plan to obtain the required information on its own, or it may
involve another agent in the planning process by engaging it in a dialogue. In
this paper, we show how the requirements of knowledge preconditions can be used
to account for information-seeking subdialogues in discourse. We first present
an axiomatization of knowledge preconditions for the SharedPlan model of
collaborative activity (Grosz & Kraus, 1993), and then provide an analysis of
information-seeking subdialogues within a general framework for discourse
processing. In this framework, SharedPlans and relationships among them are
used to model the intentional component of Grosz and Sidner's (1986) theory of
discourse structure.Comment: 7 pages, LaTeX, uses ijcai95.sty, postscript figure
Learning STRIPS Action Models with Classical Planning
This paper presents a novel approach for learning STRIPS action models from
examples that compiles this inductive learning task into a classical planning
task. Interestingly, the compilation approach is flexible to different amounts
of available input knowledge; the learning examples can range from a set of
plans (with their corresponding initial and final states) to just a pair of
initial and final states (no intermediate action or state is given). Moreover,
the compilation accepts partially specified action models and it can be used to
validate whether the observation of a plan execution follows a given STRIPS
action model, even if this model is not fully specified.Comment: 8+1 pages, 4 figures, 6 table
CAPE: Corrective Actions from Precondition Errors using Large Language Models
Extracting commonsense knowledge from a large language model (LLM) offers a
path to designing intelligent robots. Existing approaches that leverage LLMs
for planning are unable to recover when an action fails and often resort to
retrying failed actions, without resolving the error's underlying cause.
We propose a novel approach (CAPE) that attempts to propose corrective
actions to resolve precondition errors during planning. CAPE improves the
quality of generated plans by leveraging few-shot reasoning from action
preconditions. Our approach enables embodied agents to execute more tasks than
baseline methods while ensuring semantic correctness and minimizing
re-prompting. In VirtualHome, CAPE generates executable plans while improving a
human-annotated plan correctness metric from 28.89% to 49.63% over SayCan. Our
improvements transfer to a Boston Dynamics Spot robot initialized with a set of
skills (specified in language) and associated preconditions, where CAPE
improves the correctness metric of the executed task plans by 76.49% compared
to SayCan. Our approach enables the robot to follow natural language commands
and robustly recover from failures, which baseline approaches largely cannot
resolve or address inefficiently.Comment: 8 pages, 3 figures, Under Review at ICRA 202
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