Rational-Based Visual Planning Monitors
Authors: Zohreh Alavi
IJCAI 2016 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | Additionally, we have run experiments in the blockworlds domain. Initial results show that planning with rationale-based monitors can reduce the total planning time when the world changes. |
| Researcher Affiliation | Academia | Zohreh Alavi Wright State University alavi.3@wright.edu |
| Pseudocode | Yes | Algorithm 1 SHOP with Rationale-based Monitors |
| Open Source Code | No | The paper does not provide an explicit statement or link indicating that the source code for the described methodology is publicly available. |
| Open Datasets | No | The paper describes running experiments in a 'modified blocksworld domain' but does not provide any concrete access information (link, DOI, specific citation with author/year) for a publicly available or open dataset. It appears to be a custom experimental setup. |
| Dataset Splits | No | The paper describes varying parameters ('height of tower, n, from 4 to 26', 'time at which this monitor fires during the planning process'), but it does not provide specific training, validation, or test dataset splits or a splitting methodology. |
| Hardware Specification | No | The paper mentions interaction with a 'Baxter humanoid robot' as part of the MIDCA architecture, but it does not specify any hardware details (e.g., CPU, GPU models, memory) used for running the planning system experiments or development. |
| Software Dependencies | No | The paper mentions software components like 'SHOP Hierarchical Task Network (HTN) planner', 'MIDCA', and 'ROS', but it does not provide specific version numbers for these or any other ancillary software dependencies. |
| Experiment Setup | Yes | In each planning problem we set the initial state to be one with a block, Ba, on fire, a separate tower with Bb as its bottommost block, and a fire extinguisher, ext, inside Bb. The goal is to holding(Ba). By varying the height of the tower, we can vary the complexity and length of the solution. For example, if the height of tower is 5, the planner has to unstack and putdown 4 blocks in order to obtain the fire extinguisher from block Bb and use it on block Ba before it can pick up Ba. If the fire goes out during the planning process, the planner will jump to pickup(Ba). Here, the purpose of monitoring is to observe such a change as the fire going out, and suggest a jump to the shorter plan. In this experiment , we varied the height of tower,n, from 4 to 26. During planning, the monitor which observes the state of onfire(Ba) detects the change and lead to plan refinement. We vary the time at which this monitor fires during the planning process, namely after 0, 10, 30, 50 planning steps. |