Robo-Soar: An integration of external interaction, planning, and learning using Soar

This chapter reports progress in extending the Soar architecture to tasks that involve interaction with external environments. The tasks are performed using a Puma arm and a camera in a system called Robo-Soar. The tasks require the integration of a variety of capabilities including problem solving with incomplete knowledge, reactivity, planning, guidance from external advice, and learning to improve the efficiency and correctness of problem solving. All of these capabilities are achieved without the addition of special purpose modules or subsystems to Soar.