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Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The objective is to find a sequence of actions, that is, a plan, that transforms the initial world state into a goal state. In(More)
Goal recognition design involves the offline analysis of goal recognition models by formulating measures that assess the ability to perform goal recognition within a model and finding efficient ways to compute and optimize them. In this work we present goal recognition design for non-optimal agents, which extends previous work by accounting for agents that(More)
In contingent planning problems, agents have partial information about their state and use sensing actions to learn the value of some variables. When sensing and actuation are separated , plans for such problems can often be viewed as a tree of sensing actions, separated by conformant plans consisting of non-sensing actions that enable the execution of the(More)
The obvious way to use several admissible heuristics in A * is to take their maximum. In this paper we aim to reduce the time spent on computing heuristics. We discuss Lazy A * , a variant of A * where heuristics are evaluated lazily: only when they are essential to a decision to be made in the A * search process. We present a new rational meta-reasoning(More)
Humans and robots working together can efficiently complete tasks that are very difficult for either to accomplish alone. To collaborate fluidly, robots must recognize the humans' intentions and adapt to their actions appropriately. Pike is an online executive introduced previously in the literature that unifies intent recognition and plan adaptation for(More)
Current temporal planners have a hard time solving large, real-world problems which involve dealing with metric time and concurrent actions. While landmarks have enabled classical planners to scale up to significantly larger problems, they have not yet brought as much benefit to temporal planning. We argue that the reason for this is that for landmarks to(More)