[PDF][PDF] Plan-space explanation via plan-property dependencies: Faster algorithms & more powerful properties

R Eifler, M Steinmetz, A Torralba… - Proceedings of the …, 2021 - fai.cs.uni-saarland.de
Proceedings of the Twenty-Ninth International Conference on …, 2021fai.cs.uni-saarland.de
Justifying a plan to a user requires answering questions about the space of possible plans.
Recent work introduced a framework for doing so via planproperty dependencies, where
plan properties p are Boolean functions on plans, and p entails q if all plans that satisfy p
also satisfy q. We extend this work in two ways. First, we introduce new algorithms for
computing plan-property dependencies, leveraging symbolic search and devising pruning
methods for this purpose. Second, while the properties p were previously limited to goal …
Abstract
Justifying a plan to a user requires answering questions about the space of possible plans. Recent work introduced a framework for doing so via planproperty dependencies, where plan properties p are Boolean functions on plans, and p entails q if all plans that satisfy p also satisfy q. We extend this work in two ways. First, we introduce new algorithms for computing plan-property dependencies, leveraging symbolic search and devising pruning methods for this purpose. Second, while the properties p were previously limited to goal facts and so-called action-set (AS) properties, here we extend them to LTL. Our new algorithms vastly outperform the previous ones, and our methods for LTL cause little overhead on AS properties.
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