让规划器在过程中就识别出真正达成目标的动作。
A Planning Compilation to Reason about Goal Achievement at Planning Time
- 通过添加承诺动作强制目标达成后不被撤销。
- 优化与非优化规划均无额外开销。
- 适合需要精确目标达成信息的应用场景。
在解决规划任务时，识别真正实现目标的具体动作对多种应用有益。传统方法在搜索完成后才进行此类识别，因为某些动作可能暂时达成目标，随后又被其他动作撤销并重新达成。本文提出一种编译方法，将原始规划任务扩展为包含承诺动作的结构，这些动作一旦目标达成便强制其持续存在，使规划器能在规划过程中直接识别出永久性目标达成。实验表明，重构后的任务求解在最优与次优规划中均未引入额外开销，同时为某些下游任务提供了有用信息。
原文摘要 · Abstract (English)
Identifying the specific actions that achieve goals when solving a planning task might be beneficial for various planning applications. Traditionally, this identification occurs post-search, as some actions may temporarily achieve goals that are later undone and re-achieved by other actions. In this paper, we propose a compilation that extends the original planning task with commit actions that enforce the persistence of specific goals once achieved, allowing planners to identify permanent goal achievement during planning. Experimental results indicate that solving the reformulated tasks does not incur on any additional overhead both when performing optimal and suboptimal planning, while providing useful information for some downstream tasks.
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