On Policy Reuse: An Expressive Language for Representing and Executing General Policies that Call Other Policies
Keywords: Generalized planning, width-based search, sketches, hierarchical planning, recursion
Abstract: Recently, a simple but powerful language for expressing and learning general policies and problem decompositions (sketches) has been introduced, which is based on collections of rules defined on a set of Boolean and numerical features. In this work, we consider three extensions of this basic language aimed at making policies and sketches more flexible and reusable: internal memory states, as in finite state con- trollers indexical features, whose values are a function of the state and a number of internal registers that can be loaded with objects; and modules that wrap up policies and sketches and allow them to call each other by passing parameters. In addition, unlike general policies that select actions indirectly by selecting state transitions, the new language allows for the selection of ground actions directly. The expressive power of the resulting language for recombining policies and sketches is illustrated through a number of examples. The problem of learning policies and sketches in the new language, from the bottom up, is left for future work.
Primary Keywords: Theory, Knowledge Representation/Engineering
Category: Long
Student: No
Submission Number: 305
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