Cost Sensitive Conditional Planning
نویسندگان
چکیده
While POMDPs provide a general platform for conditional planning under a wide range of quality metrics they have limited scalability. On the other hand, uniform probability conditional planners scale very well, but many lack the ability to optimize plan quality metrics. We present an innovation to planning graph based heuristics that helps uniform probability conditional planners both scale and generate high quality plans when using actions with non uniform costs. We make empirical comparisons with two state of the art planners to show the benefit of our techniques.
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