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Generalizing Planning Strategies: Learning Macros for Efficient Reuse in Various Situations

This document explores the concept of learning macros in planning tasks. By generalizing specific plans, we create reusable macro-operators that enhance efficiency in subsequent planning processes. Utilizing an example involving unstacking, putting down, and stacking objects, we illustrate how established plans can be adapted for various conditions. This approach aims to reduce resource costs and improve the speed of operations by applying a generalized plan template that is applicable across multiple situations.

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Generalizing Planning Strategies: Learning Macros for Efficient Reuse in Various Situations

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  1. Learning macros: Given a plan, generalize the plan so that the generalized plan can be applied in a greater number of situations Objective: reusing previously-developed generalized plans (aka macro-operators) will reduce the cost (improve the “speed”) of subsequent planning A B B A C GoalSpec Start State Unstack(A,B)  Putdown(A)  Unstack(B,C)  Stack(B,A) (Generalize)  Unstack(?x1, ?y1)  Putdown(?x1)  Unstack(?y1, ?z1)  Stack(?y1, ?x1)

  2. A B B A C Start State GoalSpec Unstack(A,B)  Putdown(A)  Unstack(B,C)  Stack(B,A) Unstack(?x1, ?y1)  Putdown(?x2)  Unstack(?y2, ?z1)  Stack(?y3, ?x3) On(?x1,?y1) On(?x1,?y1) Holding(?x2) Holding(?x2) On(?y2,?z1) On(?y2,?z1) Holding(?y3) Holding(?y3) Clear(?x1) Clear(?x1) Clear(?x2) Clear(?y2) Clear(?y2) Clear(?x3) Clear(?x3) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x2) Holding(?y2) Clear(?y3) Clear(?y1) Clear(?z1) On(?y3,?x3) x x x x

  3. Learning macros: A B B A C GoalSpec Start State Unstack(A,B)  Putdown(A)  Unstack(B,C)  Stack(B,A) Unstack(?x1, ?y1)  Putdown(?x2)  Unstack(?y2, ?z1)  Stack(?y3, ?x3) On(?x1,?y1) On(?x1,?y1) Holding(?x2) Holding(?x2) On(?y2,?z1) On(?y2,?z1) Holding(?y3) Holding(?y3) Clear(?x1) Clear(?x1) Clear(?x2) Clear(?y2) Clear(?y2) Clear(?x3) Clear(?x3) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x2) Holding(?y2) Clear(?y3) Clear(?y1) Clear(?z1) On(?y3,?x3) {?x3/?x2} x x x x {?y3/?y2}

  4. Learning macros: A B B A C Start State GoalSpec Unstack(A,B)  Putdown(A)  Unstack(B,C)  Stack(B,A) Unstack(?x1, ?y1)  Putdown(?x2)  Unstack(?y2, ?z1)  Stack(?y2, ?x2) On(?x1,?y1) On(?x1,?y1) Holding(?x2) Holding(?x2) On(?y2,?z1) On(?y2,?z1) Holding(?y2) Holding(?y2) Clear(?x1) Clear(?x1) Clear(?x2) Clear(?y2) Clear(?y2) Clear(?x2) Clear(?x2) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x2) Holding(?y2) Clear(?y2) Clear(?y1) Clear(?z1) On(?y2,?x2) {?x3/?x2} x x x x {?y3/?y2}

  5. Learning macros: A B B A C GoalSpec Start State Unstack(A,B)  Putdown(A)  Unstack(B,C)  Stack(B,A) Unstack(?x1, ?y1)  Putdown(?x2)  Unstack(?y2, ?z1)  Stack(?y2, ?x2) On(?x1,?y1) On(?x1,?y1) Holding(?x2) Holding(?x2) On(?y2,?z1) On(?y2,?z1) Holding(?y2) Holding(?y2) Clear(?x1) Clear(?x1) Clear(?x2) Clear(?y2) Clear(?y2) Clear(?x2) Clear(?x2) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x2) Holding(?y2) Clear(?y2) Clear(?y1) Clear(?z1) On(?y2,?x2) x x x x {?y2/?y1} Unstack(?x1, ?y1)  Putdown(?x2)  Unstack(?y1, ?z1)  Stack(?y1, ?x2) On(?x1,?y1) On(?x1,?y1) Holding(?x2) Holding(?x2) On(?y1,?z1) On(?y1,?z1) Holding(?y1) Holding(?y1) Clear(?x1) Clear(?x1) Clear(?x2) Clear(?y1) Clear(?y1) Clear(?x2) Clear(?x2) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x2) Holding(?y1) Clear(?y1) Clear(?y1) Clear(?z1) On(?y1,?x2) x x x x

  6. Learning macros: A B B A C GoalSpec Start State Unstack(?x1, ?y1)  Putdown(?x2)  Unstack(?y1, ?z1)  Stack(?y1, ?x2) On(?x1,?y1) On(?x1,?y1) Holding(?x2) Holding(?x2) On(?y1,?z1) On(?y1,?z1) Holding(?y1) Holding(?y1) Clear(?x1) Clear(?x1) Clear(?x2) Clear(?y1) Clear(?y1) Clear(?x2) Clear(?x2) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x2) Holding(?y1) Clear(?y1) Clear(?y1) Clear(?z1) On(?y1,?x2) x x x x {?x2/?x1} Unstack(?x1, ?y1)  Putdown(?x1)  Unstack(?y1, ?z1)  Stack(?y1, ?x1) On(?x1,?y1) On(?x1,?y1) Holding(?x1) Holding(?x1) On(?y1,?z1) On(?y1,?z1) Holding(?y1) Holding(?y1) Clear(?x1) Clear(?x1) Clear(?x1) Clear(?y1) Clear(?y1) Clear(?x1) Clear(?x1) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x1) Holding(?y1) Clear(?y1) Clear(?y1) Clear(?z1) On(?y1,?x1) x x x x

  7. Learning macros: A B B A C GoalSpec Start State Unstack(?x1, ?y1)  Putdown(?x1)  Unstack(?y1, ?z1)  Stack(?y1, ?x1) On(?x1,?y1) On(?x1,?y1) Holding(?x1) Holding(?x1) On(?y1,?z1) On(?y1,?z1) Holding(?y1) Holding(?y1) Clear(?x1) Clear(?x1) Clear(?x1) Clear(?y1) Clear(?y1) Clear(?x1) Clear(?x1) Handemp() Handemp() Handemp() Handemp() Handemp() Handemp() Holding(?x1) OnTab(?x1) Holding(?y1) Clear(?y1) Clear(?y1) Clear(?z1) On(?y1,?x1) x x x x Macrop(?x1, ?y1, ?z1) On(?x1, ?y1) On(?x1, ?y1) On(?y1, ?z1) Clear(?x1) Clear(?x1) On(?y1, ?z1) Handemp() Clear(?y1) OnTab(?x1) Clear(?z1) On(?y1, ?x1)

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