On Heuristics for Parsing-based Verification of Hierarchical Plans with a Goal Task

Résumé

Verification of hierarchical plans deals with the problem if a given action sequence is a valid hierarchical plan – the action sequence can be obtained by decomposing a particular (goal) task using given decomposition methods. The existing parsing-based verification approach greedily composes actions until it obtains the goal task. Greediness implies that this approach also
generates tasks unrelated to the goal task. In this paper, we study the use of heuristics when creating new tasks. We also ask whether the prior knowledge of the goal task improves efficiency.