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Learning macros: Given a plan, generalize the plan so that the generalized plan

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)

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Learning macros: Given a plan, generalize the plan so that the generalized plan

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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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