Plan Optimization by Plan Rewriting

Abstract

Planning by Rewriting (PbR) is a paradigm for efficient high-quality planning that exploits declarative plan rewriting rules and efficient local search techniques to transform an easy-to-generate, but possibly suboptimal, initial plan into a high-quality plan. In addition to addressing planning efficiency and plan quality, PbR offers a new anytime planning algorithm. The plan rewriting rules can be either specified by a domain expert or automatically learned. We describe a learning approach based on comparing initial and optimal plans that produce rules competitive with manually specified ones. PbR is fully implemented and has been applied to several existing domains. The experimental results show that the PbR approach provides significant savings in planning effort while generating high-quality plans.